<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>.cmake-format.py</name>
    <path>/tmp/ws/src/pinocchio/cmake/</path>
    <filename>_8cmake-format_8py</filename>
    <member kind="variable">
      <type>dictionary</type>
      <name>additional_commands</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a8cd55c6964141a36d7bcff837e133765</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>always_wrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aebb5b29065eef979e155f9c10ea094cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>argument_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0b7f68e3e121c12c19825d074a4ae4d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>autosort</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>af2d9dab966ea5cb253a0fa6801dc6f61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>bullet_char</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a37da8b42a5956d0833567bacaf03ac4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>canonicalize_hashrulers</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ad2801af0106bb9a65cf464a65ff48daf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>command_case</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa391edf790c756c11256322a724aa340</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>dangle_align</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a88159db6694b6a3e85a0b8a9698f9acc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>dangle_parens</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5546a489bf01dfb0f0b6cbd434bc291d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>disable</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a4f6a7f253bdd17de45549df1fc71b8c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>disabled_codes</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa0c3d1f54a93bd873dfd8e9de8d677f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>emit_byteorder_mark</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a905dd967518f77e38066d8f6ad51f1b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>enable_markup</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>add95109445456c48a236fa50ced0b8b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>enable_sort</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ae3811857c44c7491f2e825c32300e18d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>enum_char</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a13f575ae683058cb5892822cbcd7ef4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>explicit_trailing_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0d754d92152d1abfee0f64335dcf2d1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>fence_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa5237480c6984cf592665b2a1b2a3598</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>first_comment_is_literal</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ad1626fa06a267c67ff192e9127a3d204</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>fractional_tab_policy</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a00902e3a829e9bb1ebec606f440e9192</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>function_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a26110ecb5b28b1014c5e1cbe52cb0f19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>global_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0428e47b69ef9d6878431ebbe8876ead</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>hashruler_min_length</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ab031048c295974cc9b9ec126ff4fc97c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>input_encoding</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a28dae02ab9fb6360374dcf773139378e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>internal_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a201576987a69c1a36148a92a5707f406</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>keyword_case</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a9938cbe2f219f079e947ae12654607ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>keyword_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a598e20c27a31e694906f8ea406df4a9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>layout_passes</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a3957d1acb8ca81d37f147f7d0e660dc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>line_ending</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ace2c8e218e29af79ec0e147277fb0a71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>line_width</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5b5068114e71c53f803684b48ffa4b8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>literal_comment_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ab3ec0aec03cc166974301e55c7dcfd8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>local_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa3ff7a61387b0e26e73a76d2070bf628</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>macro_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a2da248a108e5c0642096de5109c7febd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_arguments</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a1d4759af9e0636118e37823aea12d606</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_branches</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a4cc5f4357535cec2d480305c701f5b99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_conditionals_custom_parser</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a51c60b48388bce6bb602334d699b2936</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_lines_hwrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a1d2e5b10bd672b1db1f109e59b9fb33a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_localvars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aea914b45bc59cc6a4392e2995022656b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_pargs_hwrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a9ddde830369841f996754f8c6092afcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_prefix_chars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>abede2c7b77bfe0138900fee140425ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_returns</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>afff5987aa31f3328f9dc551e7be3ade3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_rows_cmdline</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a43107dde16c2f491cd6e27c31d8d5515</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_statement_spacing</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ad18eefc574593101df511cac427090b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_statements</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ae22b5687111f8dbaa6be211d8c556e38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_subgroups_hwrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a8b850463f83b20258f97ae5d883e34fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>min_prefix_chars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5b2e65943a58add4c14942f22b200971</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>min_statement_spacing</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5e4c0fe4de7af629595d16e8f4f5b0e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>output_encoding</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a2600507109736b20a8d075974d7b55e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>override_spec</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa4936309bd67aaa1d91a0731e603e3fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>per_command</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ab899b4929027e49d40dade1607d17239</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>private_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a40673f1f5f2e10fbc80b2c3aba8eef4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>proptags</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a4d2e6ab37b10bca0d6ad13e767d714b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>public_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0fc941a0d7e00d123cd5aa13b19b1980</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>require_valid_layout</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a7c21baa2d171e800a38bb35783d6077f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ruler_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a6bd6408fc1e6c284245f01e02f2a01f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>separate_ctrl_name_with_space</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a95c7e2bf52adb202173e741a3c15ad09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>separate_fn_name_with_space</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>acf0bb78bfacc6b8cb38ccc1423415326</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tab_size</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>af634cb3f98b322229c1e701ada444e39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>use_tabchars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ae8d8dd08b44557cba0e8877585fb81e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>vartags</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a683ea82c3dd9441a236957ed3d6df43b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/pinocchio/__init__.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>bindings_2python_2pinocchio_2____init_____8py</filename>
    <namespace>pinocchio</namespace>
    <member kind="variable">
      <type></type>
      <name>submodules</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac809f81d2d1b9aaef810660516f987a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a21c87cd93d964c97b230d90480b12c17</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/pinocchio/visualize/__init__.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/visualize/</path>
    <filename>bindings_2python_2pinocchio_2visualize_2____init_____8py</filename>
    <namespace>pinocchio::visualize</namespace>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/python/example_robot_data/__init__.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/python/example_robot_data/</path>
    <filename>models_2example-robot-data_2python_2example__robot__data_2____init_____8py</filename>
    <namespace>example_robot_data</namespace>
  </compound>
  <compound kind="file">
    <name>__main__.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/python/example_robot_data/</path>
    <filename>____main_____8py</filename>
    <namespace>example_robot_data::__main__</namespace>
    <member kind="variable">
      <type></type>
      <name>action</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>af75471d2c57a1532043da9e5e15efb0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>args</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a40d987750ea5df800450d2af452a53d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>choices</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>aa72f2a8c2291b56d0ed90d2d5da261a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>default</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a71fae130f788ad9c874a3c2878f6766b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a390f102568ed0ab7d09e1c08fc33f060</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nargs</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a7d9190b9da927f8bbb1f8a7f30c75794</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parser</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>af4a8146debd965ab96d4719a3668e29c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a14d3c6b37bad667bd044e86cd9095d1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ROBOTS</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>aa71a50458e5ef967befaee099cb1c26e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>aba-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>aba-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>aba-derivatives_8cpp.html</anchorfile>
      <anchor>afab98ea70cad9af4de4bd9a3f2e4a2f1</anchor>
      <arglist>(test_aba_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>aba-derivatives_8cpp.html</anchorfile>
      <anchor>a1b65731e317c9ad7cbde0d2be01eb804</anchor>
      <arglist>(test_aba_minimal_argument)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>aba-derivatives_8cpp.html</anchorfile>
      <anchor>a7fd3873b7d39be0abce951320d305871</anchor>
      <arglist>(test_aba_derivatives_fext)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>aba-derivatives_8cpp.html</anchorfile>
      <anchor>aeda8a864b15c67df600dc3d43ebd9dd1</anchor>
      <arglist>(test_multiple_calls)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>aba-derivatives_8cpp.html</anchorfile>
      <anchor>ad6434c8b21ad03bf2416a72cf7e37a93</anchor>
      <arglist>(test_aba_derivatives_vs_kinematics_derivatives)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>aba-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>aba-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a25641e8813ff7f8c34adf605f588b16f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;aba_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;aba_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;aba_partial_dtau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae7ac6533be15c2aaa2912f9edc873022</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;aba_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;aba_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;aba_partial_dtau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a253867c52af4821c12e210c63727a43b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a65b7e91b8410f5de36a6f3ed75eed919</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/algorithm/parallel/aba.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/parallel/</path>
    <filename>bindings_2python_2algorithm_2parallel_2aba_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>aba_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6855571db4feb9dfb8eabef19625d06e</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;tau)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>aba_proxy_res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a394203d5f81f87b117d81ef373b7bac8</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;tau, Eigen::Ref&lt; Eigen::MatrixXd &gt; a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelABA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a94043be2876355fb6f6ee81c2224b8be</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/aba.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2aba_8cpp</filename>
    <class kind="struct">TestJointMethods</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>a9519d510828eb9fb5bf7bee7f9a499cc</anchor>
      <arglist>(test_joint_basic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>aca9d5d2da225cf8e7e0642cf54b9da0d</anchor>
      <arglist>(test_aba_simple)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>a16ccdd0a434d1d3c929599d0c8a36a6c</anchor>
      <arglist>(test_aba_with_fext)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>abaa28dac02575c16fec5717e8cc0630d</anchor>
      <arglist>(test_aba_vs_rnea)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>aaae3d4d1325d3352e018112f37559bb9</anchor>
      <arglist>(test_computeMinverse)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>aeda8a864b15c67df600dc3d43ebd9dd1</anchor>
      <arglist>(test_multiple_calls)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_joint_methods</name>
      <anchorfile>unittest_2aba_8cpp.html</anchorfile>
      <anchor>ab9a265deeae43664aae193618961ddaa</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algorithm/aba.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>algorithm_2aba_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a17af40dd678c172346b88297db676c27</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aafc05b31fb1ff62fa45d7a7ad7b9b83a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const container::aligned_vector&lt; ForceDerived &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::RowMatrixXs &amp;</type>
      <name>computeMinverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afed6d372039ce2492aa6e273ac625ba0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a113004bd47670412babf55d391da25fb</anchor>
      <arglist>(ABA)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algorithm/parallel/aba.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/parallel/</path>
    <filename>algorithm_2parallel_2aba_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a24aecd1cd66758914ebb7f0c9e1bf289</anchor>
      <arglist>(const int num_threads, ModelPoolTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;pool, const Eigen::MatrixBase&lt; ConfigVectorPool &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorPool1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorPool2 &gt; &amp;tau, const Eigen::MatrixBase&lt; TangentVectorPool3 &gt; &amp;a)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>autodiff/cppad/algorithm/aba.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/cppad/algorithm/</path>
    <filename>autodiff_2cppad_2algorithm_2aba_8hpp</filename>
    <class kind="struct">pinocchio::internal::SE3actOn</class>
    <class kind="struct">pinocchio::internal::SE3actOn&lt; CppAD::AD&lt; _Scalar &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>act-on-set.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>act-on-set_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::forceSet</namespace>
    <namespace>pinocchio::motionSet</namespace>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>act</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a780f1eb47db6a1699180e971c05adf64</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, const ForceDense&lt; ForceDerived &gt; &amp;f, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>act</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a153f58c8b0953daf520c92180a07457b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, const ForceDense&lt; ForceDerived &gt; &amp;f, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>inertiaAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a6cb43ad12cb0ebf0421022db2ecbb573</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, Options &gt; &amp;I, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>inertiaAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a8d588022909af2938fb3c60d52972539</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, Options &gt; &amp;I, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>ada943976f92528eb8a01a300bb7c5f56</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a7c33805b6cfb4b159fbb7b9af4bd014b</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>ae22237945419e578dc6a625773e41ef7</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a4b7c3bb5f551ae32df2c6b5cfd8942ae</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a13277d4a929fcf1a65fe98f7eade52c5</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a1eb9c4d5ed73dd2585bba1abd999e5aa</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>ad05b9382f7f8e3aea8969d5bbdc3a61b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>ad52fcd2e45f862c472769d0418718a56</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a85f718fc0de4f19ad799daa4fc374f89</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>ae3047594e36e574e7ff0bedf7cea2285</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a8c02f537e690fe74821f2519a4d696f6</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a4dc16d6cda1e40935105f87c3b493d1b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algo-check.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>algo-check_8cpp</filename>
    <class kind="struct">Check1</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>algo-check_8cpp.html</anchorfile>
      <anchor>a922714fe79c8bc64247dcac74bfb79d8</anchor>
      <arglist>(test_check)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algorithms.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>algorithms_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeABA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aad361e540474a4b7301660ec624c019f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeABADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa2546b34e5753b18daaf29307743277f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeAlgorithms</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1d1bf53d64e008476f02627d111f41e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCAT</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad2e6b130271ba110ec8e2ff488990dd3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCentroidal</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a07cdc8983481120b5090c4d61ac80a9e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCentroidalDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>afd49356538d9fd03a19be3ea02ce4a8b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCholesky</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aaef6a4dd97db398c633cc4447e2608ae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCOM</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9a6f4d066bf201ff79150d68fa7e6d9c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCRBA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa0f4f31acb021236da73e4c5912afe5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeDynamics</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a34b9a847a7044c4e33c328be93072aac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeEnergy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a546b932061af549c1dabbf3a75e838e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFramesAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>acdd35ec3c26f0ac9fc96520639e6ed67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFramesDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa1c299d6629761811710cc2de3116601</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeGeometryAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a58008917b7844f846ce8eeccb8def495</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJacobian</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1713e4974412bc2f8486f4a611e98b12</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJointsAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac113d72a674a339a6753e52f6449080d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematicRegressor</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a101dd9225fe115b9d1863abce1d2309e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematics</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a681be384c52474b37ec6cf4dbfb63682</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematicsDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1b58073132e82a2da1669cf9a26ab591</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeModelAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac8e25dfde0dda7d646ced1d0c6dada9a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRegressor</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac3379298f10853d67babcf51eae51591</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRNEA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa0cf259d162f1ee8d267625304d7ddd0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRNEADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8fc0213b8900df7984b4c0679e4436fd</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>container/aligned-vector.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/container/</path>
    <filename>container_2aligned-vector_8hpp</filename>
    <class kind="struct">pinocchio::container::aligned_vector</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::container</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>container_2aligned-vector_8hpp.html</anchorfile>
      <anchor>a9ecbf5d53fece80688532a504b12ab6f</anchor>
      <arglist>(Type)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>namespacepinocchio_1_1container.html</anchorfile>
      <anchor>a9b29c4af5489d886e2c8b608b2f21150</anchor>
      <arglist>(const aligned_vector&lt; T &gt; &amp;lhs, const aligned_vector&lt; T &gt; &amp;rhs)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>serialization/aligned-vector.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>serialization_2aligned-vector_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>const nvp&lt; typename pinocchio::container::aligned_vector&lt; T &gt;::vector_base &gt;</type>
      <name>make_nvp</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a8fab674091d6097b082c9282907f197a</anchor>
      <arglist>(const char *name, pinocchio::container::aligned_vector&lt; T &gt; &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a842233c1d81c8492eb547c646a2189b8</anchor>
      <arglist>(Archive &amp;ar, pinocchio::container::aligned_vector&lt; T &gt; &amp;v, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>all-joints.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>all-joints_8cpp</filename>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">TestJointModel</class>
    <class kind="struct">TestJointModelCast</class>
    <class kind="struct">TestJointModelDisp</class>
    <class kind="struct">TestJointModelIsEqual</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>all-joints_8cpp.html</anchorfile>
      <anchor>a056e66785acaa3548ffaab6dafde79a0</anchor>
      <arglist>(isEqual)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>all-joints_8cpp.html</anchorfile>
      <anchor>a786be6ac48d63877e768c68f326114f4</anchor>
      <arglist>(cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>all-joints_8cpp.html</anchorfile>
      <anchor>a2742097abac946117d86c61d04620f52</anchor>
      <arglist>(test_disp)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>append-urdf-model-with-another-model.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>append-urdf-model-with-another-model_8py</filename>
    <namespace>append-urdf-model-with-another-model</namespace>
    <member kind="variable">
      <type></type>
      <name>body_inertia</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae71faeaa16f2a5fe24b29be95620a42f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>body_mass</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a28572663c3716a1e7c367eaf6831b0ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>body_placement</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a563f99181976757c371870c6a8220064</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>body_radius</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a008f966b49e4be00984e9b7d14ce53c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae06b2cfe3ea031511de9c19000f9794c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id_end_effector</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a945019a16c411daefd923717e7f0466f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom1_name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a10f3260a97ea1692411457c8271ae270</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom1_obj</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>adb106c24780621a95a9fd21dfe85ea49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom2_name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a672700ff467af049b1b4ae0cabb2d162</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom2_obj</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>aa1c678342711190957b6a1922976409d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a7005657a62a559b5ac89afc56af84072</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_id</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ab07921936c3deaf57188a1c77249ba1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>joint_name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a0a7d856fcae24a4375e57579aa07edd8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_placement</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae4a69e22bff90d17484f578533b5106d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a54fd486170bdf0a02f6b32ce5676f28f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a926a6bf13d54df816050e97129ad4391</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a445591e9d66f4f6ce45eb4342639f6f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>acdaf1b38584847ad53e1de5fe567f954</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model2</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a2739dd6f86bd0b98dce1d1ffe11e3d35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a79845e8997d347671ba64f3410052546</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a1a21e9bef69bda1109179fad32c50b41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>af15c97dc3c036905de8274798dbb67b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>package_dirs</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a5cf97affa19f5fcd236934532562dfd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>parent_id</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ad0572f32f23e86b36dc0e860935d228c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>aa9108ac348436d63fb40389dbdf7b740</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a884b104d931994b6a809957d86e3f3f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a8bd508afb92b031da2cfc65bddcce30f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae2a80fb53fd396934f81872d740e759d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2_placement</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a46de9814181eb1159f05a76e1c946b90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a3c5c7783c3cc3734d67cb2b32f458c22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a228701dc5a8d09a33e73539e53aea104</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a289f922f0b1c83ab38b39e94bc570f7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a98011f1e4658075ba18d7291eaa0b86e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model2</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>aa721431253f5d2cbe78aa6bee1a7b004</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a0a175aa9f1d1454b8d650494effe663c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>archive.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>archive_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>ac2fc3c1267a337f92b72dfe88b066257</anchor>
      <arglist>(T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>afc2b1a3b74ce4823c2b326544c34d7c4</anchor>
      <arglist>(T &amp;object, boost::asio::streambuf &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a229ad736383a33da4031a32a2d619d11</anchor>
      <arglist>(T &amp;object, StaticBuffer &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>ae8d38e2a40064f851888310d5c22218b</anchor>
      <arglist>(T &amp;object, const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>af537a59591d25e8d98fef7f630bb109d</anchor>
      <arglist>(T &amp;object, std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>acb9b6c1f2f6e06197ba2e5cc45ea6133</anchor>
      <arglist>(T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a3495a3e7047da0b8762b7c968d4933f8</anchor>
      <arglist>(T &amp;object, const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a5c863274e0524226fa53e335df67cf8f</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a4d594834f13f9332399facd712ea2eac</anchor>
      <arglist>(const T &amp;object, boost::asio::streambuf &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>aa9283ec31d872cb4fcb22525a2e27b42</anchor>
      <arglist>(const T &amp;object, StaticBuffer &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a91093c536c43bae1d3aa3b90471ecb44</anchor>
      <arglist>(const T &amp;object)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a0a012b2dfbd7d745fece3e2ee300a9b4</anchor>
      <arglist>(const T &amp;object, std::stringstream &amp;ss)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a5569d2af72732767381c09dbe0056eb8</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>ac76bd00acca96d856cf1bce557e9b9c9</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>axis-label.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>axis-label_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>char</type>
      <name>axisLabel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7a07b7bf9a1f9f0d7d95ecc9b000d7a6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel&lt; 0 &gt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3bf4264a0e84b173050bcc2f4de9e833</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel&lt; 1 &gt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af37accb825eb2f57e9fed07b0533485d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel&lt; 2 &gt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a39db294dab937152d7d165d1bdf415be</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>base_visualizer.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/visualize/</path>
    <filename>base__visualizer_8py</filename>
    <class kind="class">pinocchio::visualize::base_visualizer::BaseVisualizer</class>
    <class kind="class">pinocchio::visualize::base_visualizer::VideoContext</class>
    <namespace>pinocchio::visualize::base_visualizer</namespace>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1base__visualizer.html</anchorfile>
      <anchor>aae118108ebf63607f71a551422ba383d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>IMAGEIO_SUPPORT</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1base__visualizer.html</anchorfile>
      <anchor>ae99b99ac82339b141d9d3923d8a8d98a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>binary-op.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/core/</path>
    <filename>binary-op_8hpp</filename>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp</class>
    <class kind="struct">pinocchio::MultiplicationOp</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::impl</namespace>
  </compound>
  <compound kind="file">
    <name>bindings.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings_8py</filename>
    <class kind="class">bindings::TestSE3</class>
    <namespace>bindings</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_aba.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__aba_8py</filename>
    <class kind="class">bindings_aba::TestABA</class>
    <namespace>bindings_aba</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_centroidal_dynamics_derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__centroidal__dynamics__derivatives_8py</filename>
    <class kind="class">bindings_centroidal_dynamics_derivatives::TestDeriavtives</class>
    <namespace>bindings_centroidal_dynamics_derivatives</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_com.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__com_8py</filename>
    <class kind="class">bindings_com::TestComBindings</class>
    <namespace>bindings_com</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_com_velocity_derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__com__velocity__derivatives_8py</filename>
    <class kind="class">bindings_com_velocity_derivatives::TestVComDerivativesBindings</class>
    <namespace>bindings_com_velocity_derivatives</namespace>
    <member kind="function">
      <type>def</type>
      <name>df_dq</name>
      <anchorfile>namespacebindings__com__velocity__derivatives.html</anchorfile>
      <anchor>a7b5f3c491bdc50f6fe03b95f421b3d44</anchor>
      <arglist>(model, func, q, h=1e-9)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings_data.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__data_8py</filename>
    <class kind="class">bindings_data::TestData</class>
    <namespace>bindings_data</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_dynamics.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__dynamics_8py</filename>
    <class kind="class">bindings_dynamics::TestDynamicsBindings</class>
    <namespace>bindings_dynamics</namespace>
    <member kind="variable">
      <type>float</type>
      <name>inv_damping</name>
      <anchorfile>namespacebindings__dynamics.html</anchorfile>
      <anchor>ae6e464e9d596c7b2cec696b64128da47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>r_coeff</name>
      <anchorfile>namespacebindings__dynamics.html</anchorfile>
      <anchor>aaa03efcdf9af132cb0b2603958600b43</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings_fcl_transform.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__fcl__transform_8py</filename>
    <class kind="class">bindings_fcl_transform::TestFCLTransformConversion</class>
    <namespace>bindings_fcl_transform</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_force.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__force_8py</filename>
    <class kind="class">bindings_force::TestForceBindings</class>
    <namespace>bindings_force</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_forward_dynamics_derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__forward__dynamics__derivatives_8py</filename>
    <class kind="class">bindings_forward_dynamics_derivatives::TestDeriavtives</class>
    <namespace>bindings_forward_dynamics_derivatives</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_frame.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__frame_8py</filename>
    <class kind="class">bindings_frame::TestFrameBindings</class>
    <namespace>bindings_frame</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_frame_derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__frame__derivatives_8py</filename>
    <class kind="class">bindings_frame_derivatives::TestFrameBindings</class>
    <namespace>bindings_frame_derivatives</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_geometry_model.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__geometry__model_8py</filename>
    <class kind="class">bindings_geometry_model::TestGeometryModelBindings</class>
    <namespace>bindings_geometry_model</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_geometry_model_urdf.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__geometry__model__urdf_8py</filename>
    <class kind="class">bindings_geometry_model_urdf::TestGeometryObjectUrdfBindings</class>
    <namespace>bindings_geometry_model_urdf</namespace>
    <member kind="function">
      <type>def</type>
      <name>checkGeom</name>
      <anchorfile>namespacebindings__geometry__model__urdf.html</anchorfile>
      <anchor>afa604e42d1c4b60c99c1c3bb28e9fd65</anchor>
      <arglist>(geom1, geom2)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings_geometry_object.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__geometry__object_8py</filename>
    <class kind="class">bindings_geometry_object::TestGeometryObjectBindings</class>
    <namespace>bindings_geometry_object</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_inertia.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__inertia_8py</filename>
    <class kind="class">bindings_inertia::TestInertiaBindings</class>
    <namespace>bindings_inertia</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_inverse_dynamics_derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__inverse__dynamics__derivatives_8py</filename>
    <class kind="class">bindings_inverse_dynamics_derivatives::TestDeriavtives</class>
    <namespace>bindings_inverse_dynamics_derivatives</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_joint_algorithms.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__joint__algorithms_8py</filename>
    <class kind="class">bindings_joint_algorithms::TestJointsAlgo</class>
    <namespace>bindings_joint_algorithms</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_joint_composite.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__joint__composite_8py</filename>
    <class kind="class">bindings_joint_composite::TestJointCompositeBindings</class>
    <namespace>bindings_joint_composite</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_joints.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__joints_8py</filename>
    <class kind="class">bindings_joints::TestJoints</class>
    <namespace>bindings_joints</namespace>
    <member kind="variable">
      <type>list</type>
      <name>joint_types</name>
      <anchorfile>namespacebindings__joints.html</anchorfile>
      <anchor>ab15a04607a957e17a82aa48c67cdb819</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings_kinematic_regressor.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__kinematic__regressor_8py</filename>
    <class kind="class">bindings_kinematic_regressor::TestKinematicRegressorBindings</class>
    <namespace>bindings_kinematic_regressor</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_kinematics.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__kinematics_8py</filename>
    <class kind="class">bindings_kinematics::TestKinematicsBindings</class>
    <namespace>bindings_kinematics</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_kinematics_derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__kinematics__derivatives_8py</filename>
    <class kind="class">bindings_kinematics_derivatives::TestFrameBindings</class>
    <namespace>bindings_kinematics_derivatives</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_liegroups.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__liegroups_8py</filename>
    <class kind="class">bindings_liegroups::TestLiegroupBindings</class>
    <namespace>bindings_liegroups</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_model.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__model_8py</filename>
    <class kind="class">bindings_model::TestModel</class>
    <namespace>bindings_model</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_motion.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__motion_8py</filename>
    <class kind="class">bindings_motion::TestMotionBindings</class>
    <namespace>bindings_motion</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_regressor.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__regressor_8py</filename>
    <class kind="class">bindings_regressor::TestRegressorBindings</class>
    <namespace>bindings_regressor</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_rnea.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__rnea_8py</filename>
    <class kind="class">bindings_rnea::TestRNEA</class>
    <namespace>bindings_rnea</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_sample_models.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__sample__models_8py</filename>
    <class kind="class">bindings_sample_models::TestSampleModels</class>
    <namespace>bindings_sample_models</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_SE3.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__SE3_8py</filename>
    <class kind="class">bindings_SE3::TestSE3Bindings</class>
    <namespace>bindings_SE3</namespace>
    <member kind="variable">
      <type></type>
      <name>ones</name>
      <anchorfile>namespacebindings__SE3.html</anchorfile>
      <anchor>a1992970c7587b98e619cddcaa75a5dda</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings_spatial.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__spatial_8py</filename>
    <class kind="class">bindings_spatial::TestSpatial</class>
    <namespace>bindings_spatial</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_std_map.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__std__map_8py</filename>
    <class kind="class">bindings_std_map::TestStdMap</class>
    <namespace>bindings_std_map</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_std_vector.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__std__vector_8py</filename>
    <class kind="class">bindings_std_vector::TestStdMap</class>
    <namespace>bindings_std_vector</namespace>
  </compound>
  <compound kind="file">
    <name>bindings_urdf.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>bindings__urdf_8py</filename>
    <class kind="class">bindings_urdf::TestGeometryObjectUrdfBindings</class>
    <namespace>bindings_urdf</namespace>
  </compound>
  <compound kind="file">
    <name>boost-container-limits.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/container/</path>
    <filename>boost-container-limits_8hpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_MPL_CFG_NO_PREPROCESSED_HEADERS</name>
      <anchorfile>boost-container-limits_8hpp.html</anchorfile>
      <anchor>a5cfc0a80bcb9c742a4dd13252e8e70b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_MPL_LIMIT_LIST_SIZE</name>
      <anchorfile>boost-container-limits_8hpp.html</anchorfile>
      <anchor>acba1425c4e8d651fd058a07735044b3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_BOOST_MPL_LIMIT_CONTAINER_SIZE</name>
      <anchorfile>boost-container-limits_8hpp.html</anchorfile>
      <anchor>a62002735b00dc9e8e13340a5fe5a3dac</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_BOOST_MPL_LIMIT_CONTAINER_SIZE_DEFAULT</name>
      <anchorfile>boost-container-limits_8hpp.html</anchorfile>
      <anchor>aecd0aff52039ad95c4ec2f353f69d113</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>build-reduced-model.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>build-reduced-model_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>build-reduced-model_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>is_in_vector</name>
      <anchorfile>build-reduced-model_8cpp.html</anchorfile>
      <anchor>a5abbbb0b127c998922319d5f23580fe2</anchor>
      <arglist>(const std::vector&lt; T &gt; &amp;vector, const T &amp;elt)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>build-reduced-model_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>build-reduced-model.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>build-reduced-model_8py</filename>
    <namespace>build-reduced-model</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a662182046103ae7d829cc84b25524b72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a59ee7c3a233e4c9590223ce5bbd52395</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>geom_models</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>ad9ad32c30f2a59d5baf56ececaec778e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometric_models_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>aa3bc2ee9cae13b618e042499e5454504</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>initialJointConfig</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a681c48922fa69fdc89b5863c876f848e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>jointsToLock</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>adbbd16a8bedee67111e39a527474b652</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>jointsToLockIDs</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a501082be872816e8740d71e4cc0b1e49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>list_of_geom_models</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a602d834610ecfcbcee92925803437382</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>list_of_joints_to_lock</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>aa08a00001220154a26d7fe7d91b08818</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a7b2ed0fd2b8bd99cc5f7d792720d61db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>mixed_jointsToLockIDs</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a4db2656c32171f21fcb1702ce0d864f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a9ca8ad278709e767287d2b87f5c3c7fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>model_path</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a5c5dec0c69cc61dbc21955586e081a36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a8e17c732774bbc2a4e56d79339d96328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a3eda6d730dd28562e3684b8e4b67c3bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reduced_robot</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a952229d2d2a8f5f2f64770757495f0b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reference_configuration</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a156095651bb72db98801a25a5fb29d1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>ab68ad43d7e63fabca535c963ad5105da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a5a0acddc7499d01e0994f005c4dd4751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a4d2fcafa70d5a0305fa8e8d3b9bd7750</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a748cda30d75673e225d347afd44f23ed</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>capsule-approximation.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>capsule-approximation_8py</filename>
    <namespace>capsule</namespace>
    <namespace>capsule-approximation</namespace>
    <member kind="function">
      <type>def</type>
      <name>approximate_mesh</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a49a137b6c93a59b423d89b9f2db9a7c6</anchor>
      <arglist>(filename, lMg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>capsule_approximation</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>aecca4302a451b8011aba8c2c55334fdf</anchor>
      <arglist>(vertices)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>capsule_volume</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a8b8113d8d580d21817fd28a615dece09</anchor>
      <arglist>(a, b, r)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>distance_points_segment</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>ab0c81edeafa24709d28c82955d88a5e5</anchor>
      <arglist>(p, a, b)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>parse_urdf</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>ab1f77422ae7a054da748dec6fdbd0f77</anchor>
      <arglist>(infile, outfile)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>pca_approximation</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>ab391330c6dcae29e50971c7e7a134d46</anchor>
      <arglist>(vertices)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>CONSTRAINT_INFLATION_RATIO</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>addccd27288dac4c7709f003411fc2aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>EPSILON</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a09ff3c14bb3d5f8d030694d067402cb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a509f6e8cb7abc99b8a7e0df4767cf322</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>aa082a657db24465893763381094f0f3c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cartesian-axis.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>cartesian-axis_8hpp</filename>
    <class kind="struct">pinocchio::CartesianAxis</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>CartesianAxis&lt; 0 &gt;</type>
      <name>AxisX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9d258a5e3ac4ae86e5b63f1c7cca413e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianAxis&lt; 1 &gt;</type>
      <name>AxisY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af263015f3185caeb652fce574b3153f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianAxis&lt; 2 &gt;</type>
      <name>AxisZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adf17d1baa333258a4659c57231cbb282</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cartesian-product-liegroups.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cartesian-product-liegroups_8cpp</filename>
    <class kind="struct">TestCartesianProduct</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cartesian-product-liegroups_8cpp.html</anchorfile>
      <anchor>abf1524940320cef99dc56c1c572de52f</anchor>
      <arglist>(test_cartesian_product_with_liegroup_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cartesian-product-liegroups_8cpp.html</anchorfile>
      <anchor>a5b891f5cff09d75a588fdf331a2f00ae</anchor>
      <arglist>(test_cartesian_product_vs_cartesian_product_variant)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adbd58b2950987bc65a8a231a447c9b98</anchor>
      <arglist>(std::ostream &amp;os, const LieGroupBase&lt; Derived &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42310f5cbb5cff13eecc50b4c5789969</anchor>
      <arglist>(std::ostream &amp;os, const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cartesian-product-variant.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>cartesian-product-variant_8hpp</filename>
    <class kind="struct">pinocchio::CartesianProductOperationVariantTpl</class>
    <class kind="struct">pinocchio::CartesianProductOperationVariantTpl</class>
    <class kind="struct">pinocchio::traits&lt; CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>CartesianProductOperationVariantTpl&lt; double, 0, LieGroupCollectionDefaultTpl &gt;</type>
      <name>CartesianProductOperationVariant</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac584c5cc80c697cd105202922651bc32</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cartesian-product.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>cartesian-product_8hpp</filename>
    <class kind="struct">pinocchio::CartesianProductOperation</class>
    <class kind="struct">pinocchio::CartesianProductOperation</class>
    <class kind="struct">pinocchio::eval_set_dim</class>
    <class kind="struct">pinocchio::eval_set_dim&lt; dim, Eigen::Dynamic &gt;</class>
    <class kind="struct">pinocchio::eval_set_dim&lt; Eigen::Dynamic, dim &gt;</class>
    <class kind="struct">pinocchio::traits&lt; CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>REMOVE_IF_EIGEN_TOO_LOW</name>
      <anchorfile>cartesian-product_8hpp.html</anchorfile>
      <anchor>a3893212da15fea56d14255c4cc4e471a</anchor>
      <arglist>(x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>casadi-algo-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>casadi-algo-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo-derivatives_8cpp.html</anchorfile>
      <anchor>a7873de5a63421469ea1e98138622c301</anchor>
      <arglist>(test_integrate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo-derivatives_8cpp.html</anchorfile>
      <anchor>ab090944966067dd2e2132c57633d1328</anchor>
      <arglist>(test_rnea_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo-derivatives_8cpp.html</anchorfile>
      <anchor>ac04cf0d75a419c41dd4f89911431cf39</anchor>
      <arglist>(test_aba)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>casadi-algo.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>casadi-algo_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo_8cpp.html</anchorfile>
      <anchor>a5261f4d8ae8f23359ad4d1f05d058cb7</anchor>
      <arglist>(test_jacobian)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo_8cpp.html</anchorfile>
      <anchor>a283cf884c05c5d46143d17b81ea0d7c6</anchor>
      <arglist>(test_fk)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo_8cpp.html</anchorfile>
      <anchor>a38b1385dfb18622d30fe6fe1b75862c0</anchor>
      <arglist>(test_rnea)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo_8cpp.html</anchorfile>
      <anchor>a92e3e9a377106296f929d16a03e37967</anchor>
      <arglist>(test_crba)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-algo_8cpp.html</anchorfile>
      <anchor>ac04cf0d75a419c41dd4f89911431cf39</anchor>
      <arglist>(test_aba)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>casadi-basic.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>casadi-basic_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>a08b82193e72e529520b93beba3f0a54d</anchor>
      <arglist>(test_eigen)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>aeccf45b3328bc6b23e4e61b9280fa545</anchor>
      <arglist>(test_example)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>a5261f4d8ae8f23359ad4d1f05d058cb7</anchor>
      <arglist>(test_jacobian)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>a80eda15872cb03009e222c8dbaf783e0</anchor>
      <arglist>(test_copy_casadi_to_eigen)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>a6be5e2cee94b0fd784b4486762686fbc</anchor>
      <arglist>(test_copy_eigen_to_casadi)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>a8e2229794efc680e52c6f03172414973</anchor>
      <arglist>(test_casadi_codegen)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>aef9d0a4a6c4ba0082d0bbc73ca00ee1d</anchor>
      <arglist>(test_max)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt;</type>
      <name>eigenFun</name>
      <anchorfile>casadi-basic_8cpp.html</anchorfile>
      <anchor>ae08861184d72f15d036867c7d4abff7c</anchor>
      <arglist>(Eigen::MatrixBase&lt; T1 &gt; const &amp;A, Eigen::MatrixBase&lt; T2 &gt; const &amp;a, Eigen::MatrixBase&lt; T3 &gt; const &amp;B, Eigen::MatrixBase&lt; T4 &gt; const &amp;b)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>casadi-joints.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>casadi-joints_8cpp</filename>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">TestADOnJoints</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-joints_8cpp.html</anchorfile>
      <anchor>a0d831b429c06d917ec6ba140eda2e8f6</anchor>
      <arglist>(test_jointRX_motion_space)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-joints_8cpp.html</anchorfile>
      <anchor>a58f4039f8b5b2ce8a6aa95c53ff3f81b</anchor>
      <arglist>(test_all_joints)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>casadi-spatial.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>casadi-spatial_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-spatial_8cpp.html</anchorfile>
      <anchor>a599f2122ce4f0cac8114d0dfbd5f63d5</anchor>
      <arglist>(test_se3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-spatial_8cpp.html</anchorfile>
      <anchor>a3b492aea98b017de957af911be71970a</anchor>
      <arglist>(test_motion)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>casadi-spatial_8cpp.html</anchorfile>
      <anchor>a2395aec16a8b23e1e888bc00b410e80a</anchor>
      <arglist>(test_quaternion)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>autodiff/casadi.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/</path>
    <filename>autodiff_2casadi_8hpp</filename>
    <class kind="struct">pinocchio::math::internal::call_max&lt; ::casadi::Matrix&lt; S1 &gt;, S2 &gt;</class>
    <class kind="struct">pinocchio::math::internal::call_max&lt; ::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::math::internal::call_max&lt; S1,::casadi::Matrix&lt; S2 &gt; &gt;</class>
    <class kind="struct">Eigen::internal::cast_impl&lt; casadi::SX, Scalar &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt;::casadi::SX &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::math::internal::return_type_max&lt; ::casadi::Matrix&lt; Scalar &gt;, T &gt;</class>
    <class kind="struct">pinocchio::math::internal::return_type_max&lt; ::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::math::internal::return_type_max&lt; T,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::math</namespace>
    <namespace>boost::math::constants</namespace>
    <namespace>boost::math::constants::detail</namespace>
    <namespace>casadi</namespace>
    <namespace>Eigen</namespace>
    <namespace>Eigen::internal</namespace>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::casadi</namespace>
    <namespace>pinocchio::math</namespace>
    <namespace>pinocchio::math::internal</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_WITH_CASADI_SUPPORT</name>
      <anchorfile>autodiff_2casadi_8hpp.html</anchorfile>
      <anchor>aec32f491955fa7ea839c3f9774d25def</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio_1_1casadi.html</anchorfile>
      <anchor>ace24a2f05bd77904eb706f8582f00567</anchor>
      <arglist>(::casadi::Matrix&lt; Scalar &gt; const &amp;src, Eigen::MatrixBase&lt; MT &gt; &amp;dst)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio_1_1casadi.html</anchorfile>
      <anchor>af9cf8d74e5a39fd4d376efe911380566</anchor>
      <arglist>(Eigen::MatrixBase&lt; MT &gt; const &amp;src, ::casadi::Matrix&lt; Scalar &gt; &amp;dst)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator||</name>
      <anchorfile>namespacecasadi.html</anchorfile>
      <anchor>a75a1a4c79d47adf546bbfa91b60ccef2</anchor>
      <arglist>(const bool x, const casadi::Matrix&lt; SXElem &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sym</name>
      <anchorfile>namespacepinocchio_1_1casadi.html</anchorfile>
      <anchor>a4b04c8c0dea68d73c8cdb8a50c5b3968</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixDerived &gt; &amp;eig_mat, std::string const &amp;name)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>math/casadi.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>math_2casadi_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>cast.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>cast_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>NewScalar</type>
      <name>cast</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a98cde85567743a858bf846ac1a52ee23</anchor>
      <arglist>(const Scalar &amp;value)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>center-of-mass-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>center-of-mass-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>center-of-mass-derivatives_8cpp.html</anchorfile>
      <anchor>a4978103f309d617b6db71f564b992345</anchor>
      <arglist>(test_kinematics_derivatives_vcom)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>center-of-mass-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>center-of-mass-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>getCenterOfMassVelocityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af54c11ef0377ff24c383e0c8e8df1cb1</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Matrix3xOut &gt; &amp;vcom_partial_dq)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>center-of-mass.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>center-of-mass_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a429f890fcf3471e5432ba9cf55cd5666</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4f458b0b39322756ce0d7bc77d9d493c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0874e4cd0ff771cf5744be1d6f8ebb92</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a365c08eeedb247e3cb89bd8ad21e4c2f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, KinematicLevel kinematic_level, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad18a448dc865df61cd36d56f6fdad7d8</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, int kinematic_level, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a25b6ea53d7a8f4ffb73c902cf6ea980b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeSubtreeMasses</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0c09ef7830d6d96012559d7487f7759b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeTotalMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1c0edadfd90f1137df262a38d43f1011</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeTotalMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a71187ab703325a08e05f0d5126d435ce</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>getComFromCrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a865859a11422761cb1344bb9e11b35df</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>getJacobianComFromCrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac52ba2174f0159848030b9607a1253af</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJacobianSubtreeCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afbe370c7f1a8f5bb85948b758af45092</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex &amp;rootSubtreeId, const Eigen::MatrixBase&lt; Matrix3xLike &gt; &amp;res)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>jacobianCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa68008ef776e6959af9884eff4514633</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>jacobianCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5a9107628d54b00bb72c021cb44dc89d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jacobianSubtreeCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a37945b7a0c0749210afeeee5927bb1c3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const JointIndex &amp;rootSubtreeId, const Eigen::MatrixBase&lt; Matrix3xLike &gt; &amp;res)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jacobianSubtreeCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae3b8c1490b1a20754a1cbd237b1c51db</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex &amp;rootSubtreeId, const Eigen::MatrixBase&lt; Matrix3xLike &gt; &amp;res)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>centroidal-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>centroidal-derivatives_8cpp</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addJointAndBody</name>
      <anchorfile>centroidal-derivatives_8cpp.html</anchorfile>
      <anchor>a630f412e58758cbdb2d2cef6fa291dd1</anchor>
      <arglist>(pinocchio::Model &amp;model, const pinocchio::JointModelBase&lt; JointModel &gt; &amp;joint, const std::string &amp;parent_name, const std::string &amp;name, const pinocchio::SE3 placement=pinocchio::SE3::Random(), bool setRandomLimits=true)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal-derivatives_8cpp.html</anchorfile>
      <anchor>aed4267a56411dc49ec6a75525e5bef1e</anchor>
      <arglist>(test_centroidal_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal-derivatives_8cpp.html</anchorfile>
      <anchor>a1b7cc69f28c5fbc08e16fbafdb04b41a</anchor>
      <arglist>(test_retrieve_centroidal_derivatives)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>centroidal-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>centroidal-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeCentroidalDynamicsDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a344d8d1d4380d93f228a880b0c3361fc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const Eigen::MatrixBase&lt; Matrix6xLike0 &gt; &amp;dh_dq, const Eigen::MatrixBase&lt; Matrix6xLike1 &gt; &amp;dhdot_dq, const Eigen::MatrixBase&lt; Matrix6xLike2 &gt; &amp;dhdot_dv, const Eigen::MatrixBase&lt; Matrix6xLike3 &gt; &amp;dhdot_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCentroidalDynamicsDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42b251834df6908dbb7cc2f3d921b7fc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Matrix6xLike1 &gt; &amp;dh_dq, const Eigen::MatrixBase&lt; Matrix6xLike1 &gt; &amp;dhdot_dq, const Eigen::MatrixBase&lt; Matrix6xLike2 &gt; &amp;dhdot_dv, const Eigen::MatrixBase&lt; Matrix6xLike3 &gt; &amp;dhdot_da)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>centroidal.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>centroidal_8cpp</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addJointAndBody</name>
      <anchorfile>centroidal_8cpp.html</anchorfile>
      <anchor>a630f412e58758cbdb2d2cef6fa291dd1</anchor>
      <arglist>(pinocchio::Model &amp;model, const pinocchio::JointModelBase&lt; JointModel &gt; &amp;joint, const std::string &amp;parent_name, const std::string &amp;name, const pinocchio::SE3 placement=pinocchio::SE3::Random(), bool setRandomLimits=true)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal_8cpp.html</anchorfile>
      <anchor>a0cfddf4d3b53f2ac95af9690be375342</anchor>
      <arglist>(test_ccrba)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal_8cpp.html</anchorfile>
      <anchor>afefe5b7c64492e7bef8ea8b1f9517c94</anchor>
      <arglist>(test_centroidal_mapping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal_8cpp.html</anchorfile>
      <anchor>af8f308671063738cd36391a998eefa96</anchor>
      <arglist>(test_dccrb)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal_8cpp.html</anchorfile>
      <anchor>a407611b36c0723fb6abebca628c03b83</anchor>
      <arglist>(test_centroidal_mapping_time_derivative)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>centroidal_8cpp.html</anchorfile>
      <anchor>a54940f0a5f338cd6f4fa6f221736ce17</anchor>
      <arglist>(test_computeCentroidalMomentum_computeCentroidalMomentumTimeVariation)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>centroidal.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>centroidal_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>ccrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad37c08502defc1f71f385c82f701d515</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a18227c521b5e88b5645c4136a4ba492f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a221df6541c7728a0b87123a627b495f0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeCentroidalMap</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae186a5752333a405c53785d82fed0e97</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeCentroidalMapTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab7f3f2f7ca694cb21ab00a818b661d11</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0f0027c6b1de21ae3bf728fc93a8267e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a779fc82fdd33760b87f6ce116ca8c8f3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentumTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a58aae3c6002a58f93c16b80a81c2e9bb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentumTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5a70f7bb0ea6ebd0af2a2dd10a97766c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>dccrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7003a73837453cc1c4adf3906e0b1aaf</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>check.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>check_8hpp</filename>
    <class kind="struct">pinocchio::AlgorithmCheckerBase</class>
    <class kind="struct">pinocchio::AlgorithmCheckerList</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>MAKE_ALGO_CHECKER_LIST</name>
      <anchorfile>check_8hpp.html</anchorfile>
      <anchor>a7cd8fdfcf794bda1c4b0a3c410fa109d</anchor>
      <arglist>(z, n, _)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE</name>
      <anchorfile>check_8hpp.html</anchorfile>
      <anchor>a7b1e8c2e4a10d99471d5d7dcf6e20d12</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>check_8hpp.html</anchorfile>
      <anchor>a4437ebc2e526f6d858544f9c5ecef816</anchor>
      <arglist>(NAME)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a412c3880992c864f0223ba280ddf737b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af1d842eb2091f313231f3c53d75a1a6d</anchor>
      <arglist>(Parent)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cholesky.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cholesky_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cholesky_8cpp.html</anchorfile>
      <anchor>a9740a22f75dbd3cac46d760566d67380</anchor>
      <arglist>(test_cholesky)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cholesky_8cpp.html</anchorfile>
      <anchor>a71996e187088123d8ce0d4b9c8e7dc7d</anchor>
      <arglist>(test_timings)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cholesky_8cpp.html</anchorfile>
      <anchor>a3a6dcf8c54e90902a65ca0db131e478a</anchor>
      <arglist>(test_Minv_from_cholesky)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cholesky.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>cholesky_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::cholesky</namespace>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>computeMinv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>acfaa6a35556fe4b225cf8b3ca8559a5e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;Minv)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::RowMatrixXs &amp;</type>
      <name>computeMinv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a5a27025a3bcd36e7850dd0bab4af1125</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>decompose</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a8dc8ac71750bc049c316ed8db347444f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>MatRes &amp;</type>
      <name>Mv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>ac63c047d6954db023a7c9dcd2a81efd0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;min, const Eigen::MatrixBase&lt; MatRes &gt; &amp;mout)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a2d73303dd8a54f4e9cef1520b915df97</anchor>
      <arglist>(Mat) Mv(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>solve</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a723e56256b42fdac88310133b1cef848</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>UDUtv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a428d7c7f6901cfb378c775e9ce215b63</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Uiv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a6eb82b6c9e6f8445e990553b813bc2c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Utiv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a55528b3d71ccd495bde2536d0d67b6a7</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Utv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a7ffef17738ce992557ec1cf83beec351</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Uv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a60f92addc279fa892c342742e4ef8594</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>data</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>ac89591624e4c1f69ac7d78f43381cb13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; const Eigen::MatrixBase&lt; Mat &gt; &amp;</type>
      <name>min</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a9b57a583ac2fea84524a016f1c955bea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl &amp;</type>
      <name>model</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>aca93c064c1bb719c51f8f2ad0ed3fc3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Options</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a9fe04e2aeea44b48d3a15a048e0dafc6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>code-generator-algo.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/codegen/</path>
    <filename>code-generator-algo_8hpp</filename>
    <class kind="struct">pinocchio::CodeGenABA</class>
    <class kind="struct">pinocchio::CodeGenABADerivatives</class>
    <class kind="struct">pinocchio::CodeGenCRBA</class>
    <class kind="struct">pinocchio::CodeGenDDifference</class>
    <class kind="struct">pinocchio::CodeGenDifference</class>
    <class kind="struct">pinocchio::CodeGenIntegrate</class>
    <class kind="struct">pinocchio::CodeGenMinv</class>
    <class kind="struct">pinocchio::CodeGenRNEA</class>
    <class kind="struct">pinocchio::CodeGenRNEADerivatives</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>code-generator-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/codegen/</path>
    <filename>code-generator-base_8hpp</filename>
    <class kind="struct">pinocchio::CodeGenBase</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>codegen-crba.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/codegen/</path>
    <filename>codegen-crba_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>codegen-crba_8cpp.html</anchorfile>
      <anchor>a217dbf8b442f20279ea00b898af96f52</anchor>
      <arglist>(int argc, const char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>collision-with-point-clouds.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>collision-with-point-clouds_8py</filename>
    <namespace>collision-with-point-clouds</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_data</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a0a1334c2dc14b0dcf398f44841414160</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a55786599a4061f2415d09a712995c099</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_pair</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aee03e53e7cdeabd7509b1342e8ba05ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae99627a3be093aa39cd2abfc8e726566</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometry</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a17e41344688f08d32628127188289161</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>go_height_field</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ab0dc0b3e344935b5e74f7d16eacf9a66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>go_panda_hand</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a298b12137e85e72080dc79c9ff433c36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>go_point_cloud</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a85f48adb2ebb9a52917a6fcdfeda2b60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>height_field</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af32aecddf66e6d6bebdb53998c7efac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>height_field_collision_id</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aa2aebcef7508a1dbcef8787e3899a92c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>height_field_placement</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a46337b8290c39aa37422097cc5fdeeb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>heights</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a9f526e87edb0967262e704f43352fb12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>is_collision</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a8a2b106960aaf8716b633343339f006c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a075d1c6b81145c307e816f965dcce98b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a8500c7038ea41651a35113bb70de9770</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae12292bd9040e3e0428c37589f2743a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>adec534d88e1334fde420f786ec73c414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_points</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ad4199fb80d630204378e2417f4528026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nx</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ab54a11ec2a6be3a99b8d7f692f5f668d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>ny</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a0fc49cc6d62548cd176a92b7294fbe11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>afd3f5738ff81a21693a69949fb880986</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>panda_hand_collision_id</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>abd5753e1f54d59e992e85174a938fff8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ad0bbc4ebd4058d27a8c5d235a8a267f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>point_bins</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af84513e2d3bebb02e4fa796045db6c0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>point_cloud</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>abe5074f5705066228720433933694e2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>point_cloud_placement</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a2517691849238b0328e23d222526d029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>points</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a03dd45b91dabe501a026c15a74b4427b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a8fef9b38954a6ec7a1900a85e0794a46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af5dac26ebde27c65be56ce8b4b511a40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>translation</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af31ee63a617998c6bc9d1e426e575912</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a72516649ff13ab83df67319c415d4d1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aaab05abffb61ffc2fa8b72c8ac74bb25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae75751339679c985da1772bd811cd97b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae21f8ede327b0d0c58a2fb4fde93ee97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>X</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a6fd71c91e14d21b3347f2cfff876c5bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_bins</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aba6443d943bfe20f5459447bad825400</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_dim</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aa98f470f35ac45d28fcc12b79b4779c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_grid</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ab04e8f38022ef40931f2a747b4386627</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x_half_pad</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a1a13d8090e7faf6584c549db03d5770b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a29d5c53cf2c02f622be33dd23440fd9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_bins</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a1475c4e318e9b571a526c006076fe4fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_dim</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a736f5af3f045e975aa2430f3b18631a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_grid</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ad9032dfb9b9bb3c56938ff0e282f8bc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>y_half_pad</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a1f68b8bfb8edfcbc4696224d3d80b904</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Z</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a2ebb600fcb9fb17db163011ea90c55b2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>collisions.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>collisions_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>collisions_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>collisions_8cpp.html</anchorfile>
      <anchor>a2c3f6775325c30275d11c6abee2db6a0</anchor>
      <arglist>(int, char **)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>collisions.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>collisions_8py</filename>
    <namespace>collisions</namespace>
    <member kind="variable">
      <type></type>
      <name>cp</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a39c357746117f951047dc1e66bd8ea2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cr</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a734360d97e35178d716ea01432d42af3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>af8b5067e88af871bdf2ba098c121cb29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_data</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a01d76977c4f32ff40c751f5dc8063ee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a51f19dc9cf977e350acb6fe3cfa2b5d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a0d31e6eb4d8484677ee36b978dfd2f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a8fbc6abd831afeac5dac021fd8b8dc5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>af4fd0cfc75037615605e4d3acc59d631</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>ad6ea61a55ebef58308b352fcd6be301b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a677ff64a7484755f9ca89b8d9a0a37bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a9951dcf873cc39527b40427b16fd17b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf_model_path</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a35e028cce93623208e51bf22cb0049fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a40cb359e904f8b6b8d32d8cab7d4c5af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a829b70f9b357e9e2f06f711454305806</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>com.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>com_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>com_8cpp.html</anchorfile>
      <anchor>ab7e1fea7cd14f76c9944eec5b09cedd2</anchor>
      <arglist>(test_com)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>com_8cpp.html</anchorfile>
      <anchor>a58677bf60e7ff0fd1c6813ffd9b7fa05</anchor>
      <arglist>(test_mass)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>com_8cpp.html</anchorfile>
      <anchor>a6eda3d98b72affe0aa9596e9f3817ef1</anchor>
      <arglist>(test_subtree_masses)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>com_8cpp.html</anchorfile>
      <anchor>a44adf478c01f97d7b14ecb09a2da6513</anchor>
      <arglist>(test_subtree_com_jacobian)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>comparison-operators.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>comparison-operators_8hpp</filename>
    <class kind="struct">pinocchio::apply_op_if</class>
    <class kind="struct">pinocchio::apply_op_if&lt; OP, true, default_return_value &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>comparison-operators_8hpp.html</anchorfile>
      <anchor>aeeac24aec7504d52ed10e32d53136e5b</anchor>
      <arglist>(name, OP)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4643d37bc1149fb5fa20fba8b0119f69</anchor>
      <arglist>(equal_to_op,==)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4b5b18b509d9faa902584a07511639dc</anchor>
      <arglist>(not_equal_to_op,!=)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a13a5c5e294c6fab481a1ccfeba833658</anchor>
      <arglist>(less_than_op,&lt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac08db9f51c5b03f9b523d6a0557fb96e</anchor>
      <arglist>(greater_than_op,&gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8ad92c395bd704cc9dc40ec700b30bb4</anchor>
      <arglist>(less_than_or_equal_to_op,&lt;=)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abdf1602cc7653f4f38e190c786a9dc06</anchor>
      <arglist>(greater_than_or_equal_to_op,&gt;=)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>compile.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/</path>
    <filename>compile_8py</filename>
    <namespace>compile</namespace>
    <member kind="variable">
      <type></type>
      <name>builddir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a33dadec18c25298e240fb548f97a810d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comp</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a4cf5d6b0ce4e98e41539a25339052088</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>doraise</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ac1d4ef7f8831ee0e882d8f2d661c6c73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a46be63463291fe312cb52b5643ad6c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ad462a24edb35c4e395d20b7721d7ade7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>srcdir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>aa32ae4057633ade75c7ac4e3ab300d88</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>compute-all-terms.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>compute-all-terms_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>compute-all-terms_8cpp.html</anchorfile>
      <anchor>aff805ba5b5513069a29f88cee4ae570d</anchor>
      <arglist>(test_against_algo)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>run_test</name>
      <anchorfile>compute-all-terms_8cpp.html</anchorfile>
      <anchor>afc3ea727eebca4d4fcc54add70cdb676</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>compute-all-terms.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>compute-all-terms_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeAllTerms</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a98b0f68f6b24d6c21fb4cfce7dc47dbc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>constant.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>constant_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>def_constant</name>
      <anchorfile>namespaceboost_1_1python.html</anchorfile>
      <anchor>a83d002edf38ca4d107f8ec8507f01af1</anchor>
      <arglist>(const char *name, const T &amp;value)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>constraint-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>constraint-base_8hpp</filename>
    <class kind="class">pinocchio::ConstraintBase</class>
    <class kind="struct">pinocchio::ConstraintForceOp</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_CONSTRAINT_TYPEDEF</name>
      <anchorfile>constraint-base_8hpp.html</anchorfile>
      <anchor>a1422d5d459deb60bce3bbed03748be80</anchor>
      <arglist>(DERIVED)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_CONSTRAINT_TYPEDEF_GENERIC</name>
      <anchorfile>constraint-base_8hpp.html</anchorfile>
      <anchor>aab7f55a0f6a4d19e368ebfa6a25deb0e</anchor>
      <arglist>(DERIVED, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_CONSTRAINT_TYPEDEF_TPL</name>
      <anchorfile>constraint-base_8hpp.html</anchorfile>
      <anchor>ae6533dc13f5c985ae73838a55b617e72</anchor>
      <arglist>(DERIVED)</arglist>
    </member>
    <member kind="function">
      <type>MultiplicationOp&lt; InertiaTpl&lt; Scalar, Options &gt;, ConstraintDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af869a49011a04e25fba88fddf310706e</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, Options &gt; &amp;Y, const ConstraintBase&lt; ConstraintDerived &gt; &amp;constraint)</arglist>
    </member>
    <member kind="function">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; MatrixDerived &gt;, ConstraintDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aee02a29419f7fa5fcb2b1776c2a15272</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixDerived &gt; &amp;Y, const ConstraintBase&lt; ConstraintDerived &gt; &amp;constraint)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>constraint-generic.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>constraint-generic_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintTpl&lt; Dim, Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintTpl&lt; Dim, Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintTpl::Transpose</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>constraint.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>constraint_8cpp</filename>
    <includes id="unittest_2utils_2macros_8hpp" name="unittest/utils/macros.hpp" local="yes" imported="no">utils/macros.hpp</includes>
    <class kind="struct">buildModel</class>
    <class kind="struct">buildModel&lt; JointModelMimic&lt; JointModel &gt; &gt;</class>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">TestJointConstraint</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>a4e73f1a2e20b5d6fa1e3e766dc54a076</anchor>
      <arglist>(test_ForceSet)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>a81ff618a810322a8b7c229fece27c703</anchor>
      <arglist>(test_ConstraintRX)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>a3c11f8d68f9c7cdf91ea25eb219bb303</anchor>
      <arglist>(test_joint_constraint_operations)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_constraint_operations</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>a46ea33679bfc4316c0b717fc3d426c2e</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_jmodel_nq_against_nq_ref</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>ae89972192b3ed680e3124e145334fc80</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel, const int &amp;nq_ref)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_jmodel_nq_against_nq_ref</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>a755fbcd35f522f933e505c772d6cc942</anchor>
      <arglist>(const JointModelMimic&lt; JointModel &gt; &amp;jmodel, const int &amp;nq_ref)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_nv_against_jmodel</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>af498a38ac7e5eb90f90ce0b53495b574</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel, const ConstraintBase&lt; ConstraintDerived &gt; &amp;constraint)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_nv_against_jmodel</name>
      <anchorfile>constraint_8cpp.html</anchorfile>
      <anchor>a01a2bce66ee28778b4cfb89f46a4ef1d</anchor>
      <arglist>(const JointModelMimic&lt; JointModel &gt; &amp;jmodel, const ConstraintBase&lt; ConstraintDerived &gt; &amp;constraint)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>constraint.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>constraint_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>ConstraintTpl&lt; 1, double, 0 &gt;</type>
      <name>Constraint1d</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a437c159a1462b7de242b69fdeb50a927</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; 3, double, 0 &gt;</type>
      <name>Constraint3d</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5238a034433a52ea0edc8cff61903949</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; 6, double, 0 &gt;</type>
      <name>Constraint6d</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2d627234738a2bbfaed1807ff686a901</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; Eigen::Dynamic, double, 0 &gt;</type>
      <name>ConstraintXd</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adea12270ff1c6c177a4c417f5c2f81c1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>contact-dynamics-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>contact-dynamics-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>a5331e6b50127f6d898cb18af73aa1657</anchor>
      <arglist>(test_FD_with_contact_cst_gamma)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>ab9235392cf4f43e245304ed041337cf2</anchor>
      <arglist>(test_FD_with_contact_varying_gamma)</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>contactDynamics</name>
      <anchorfile>contact-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>a76f101bcd5c579bea0eb92f9eceb7961</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Model::JointIndex id)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>contact-dynamics.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>contact-dynamics_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics_8cpp.html</anchorfile>
      <anchor>a5d535fcbabc9f231333eb1558d902003</anchor>
      <arglist>(test_FD)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics_8cpp.html</anchorfile>
      <anchor>ac294ec0aec79285fbc5a0b82c0828b4e</anchor>
      <arglist>(test_computeKKTMatrix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics_8cpp.html</anchorfile>
      <anchor>aaeefe7ecb8eb6b7ee37201bf00b7b743</anchor>
      <arglist>(test_getKKTMatrix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics_8cpp.html</anchorfile>
      <anchor>a74b51ff6db44c44e3d6d1fdaf37d4106</anchor>
      <arglist>(test_FD_with_damping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics_8cpp.html</anchorfile>
      <anchor>ab4cdd57dd72493015a4e0fd974993aa8</anchor>
      <arglist>(test_ID)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contact-dynamics_8cpp.html</anchorfile>
      <anchor>ad1e481e83d2faf674acc559f18424e37</anchor>
      <arglist>(timings_fd_llt)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>contact-dynamics.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>contact-dynamics_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeKKTContactDynamicMatrixInverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a14be42b6e0582bc3dd9e91094e573349</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; KKTMatrixType &gt; &amp;KKTMatrix_inv, const Scalar &amp;inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab26c1ca5d01d5885b329fc35793682df</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; DriftVectorType &gt; &amp;gamma, const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9a974c741c7d4a6d5e1bf8da373059c9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;tau, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; DriftVectorType &gt; &amp;gamma, const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a59d611a107d9848f3d702fa2e29afd2e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; DriftVectorType &gt; &amp;gamma, const Scalar inv_damping, const bool updateKinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getKKTContactDynamicMatrixInverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0d8946392edecc0d1de49cc39affb3fb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; KKTMatrixType &gt; &amp;KKTMatrix_inv)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b3ac8f8d2b0bb7ec4aeea811d5d1800</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v_before, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Scalar r_coeff=0., const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91268e5d287a8d170ba80092d922da39</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v_before, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Scalar r_coeff=0., const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a69aac2cb1fa75bb7c000f333ba39e173</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v_before, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Scalar r_coeff, const bool updateKinematics)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>continuous.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>continuous_8py</filename>
    <class kind="class">continuous::PolicyNetwork</class>
    <class kind="class">continuous::QValueNetwork</class>
    <class kind="class">continuous::ReplayItem</class>
    <namespace>continuous</namespace>
    <member kind="function">
      <type>def</type>
      <name>rendertrial</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a2ffc34118e249424be9ac308c862f8a8</anchor>
      <arglist>(maxiter=NSTEPS, verbose=True)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a14683444f6a9ac955aeb2d26135cf1c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>BATCH_SIZE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a9a737fb65620843104c1dcbdc529fb69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>d_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a5fba204bfb8613b44ccfe656aabcd095</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DECAY_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ae9b56af11a7d5915e41c6155ae773681</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>done</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ab7d1e0f269be106d9430f0db372e0a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a83e090fab86c167a9a6b14ecabb2aa84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>feed_dict</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a37c990174d4fbae20fb66f5361ca4e3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_qva</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a04aca646d7c72d13b1007827b74c08c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_rwd</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>acd017b4a8a9d5179584f205838520a95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_ste</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ab8376f7a0647e76845db03c1ac9e9b76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxq</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0156016de155ed839166b390f6e267d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>n_init</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>aba57965870ed1aecfd7dd894014e0b7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEPISODES</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a053e5ceea6030470cd4d681edc3ab512</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NH1</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a4c29c1c4e3fb39cee23a62e313208ad6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1e6f4ad11da874d7e667a2caeb8d5d7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NU</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ac9347a95f5d2d4025158b34d69fcd73a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NX</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a875abed6f0b9efa340aa3383c731e66c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>abd45bbf20af6d5f1aadb7e23ed04d10a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>policy</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a060d518d43d951a24cc7fe7bbbdfb05f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>POLICY_LEARNING_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a76e1b33d7aa9db8acf9e45574461c28c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>policyTarget</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a7ca0e1edb22141367dd6ef8a53f6dfc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q2_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0a74a708d49137cbd5721ee1514257b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qgrad</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ae5782c473508d88423fe790aaa6d8a9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qref_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>afad4d392bf44ab17374f686486aaab12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalue</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1b7baf204a9b28e78fd0774d3cccbb9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>QVALUE_LEARNING_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>aea5d77199ff3f5a40d6aebe80be91082</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalueTarget</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>adb6230bdead4902a4f8de433de41c856</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a3472f1e615ddec36fc9ce83eea5aa3d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a641e2e5300e139a6195f67dcad0daf22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RANDOM_SEED</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a972dee9cc034de0ea7f7b70c7461d04d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>REPLAY_SIZE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0642f843493a98367f931fb091b214c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>replayDeque</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a886577f213ed92714c4beffadd61f5e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rsum</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>acd983977031c8a76d3ff3ff8f63dfb16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sess</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a99e5f4eb2c952bbbfe53b74bfc5eb0c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a70ccb63cdd796f1d4c1417a22d0cb926</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u2_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a092ffcc0970b4c0b7071e281c526f77a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>acb167aa702e543041320e6b51cf581d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u_init</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1709c435182898c1ee40401aff715ce6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u_targ</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a7b17893db78646875e4b8e53abd86990</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>UPDATE_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>af29b2f9a4a4741dfbb6243a1af889cd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>withSinCos</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a6f5345532d24fa63a78ec75609c4469d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ad5db6a9e8b69da29c3da64a27907f789</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1597083fab9d87e1afff3afbfdd4bd67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0fd04495716c1d5cd6699e9b63ec4659</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1652ebe5c86e27e5b773b873fa1f4f9f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>conversions.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>conversions_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2spatial_2se3_8hpp" name="bindings/python/spatial/se3.hpp" local="yes" imported="no">pinocchio/bindings/python/spatial/se3.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="typedef">
      <type>Eigen::Map&lt; const SE3::Quaternion &gt;</type>
      <name>QuatConstMap</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac3e829825a43eac2f8a2a44e45e2c39f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; SE3::Quaternion &gt;</type>
      <name>QuatMap</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1110a95b42057b0a7b9d56be8be8f740</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3::Scalar</type>
      <name>Scalar</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac424624ed395cadae1dc1a677df61a4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 7, 1 &gt;</type>
      <name>Vector7d</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad7a3765e879f3dc48d555c612d53b3ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt;</type>
      <name>VectorXd</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac83ce98ed306ac5f3260fae52aa0a652</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConversions</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a137bf427231f79b81a244ba9160aedc8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>SE3ToXYZQUAT</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6f1f226fdb35eff4f8372084a46283f0</anchor>
      <arglist>(const SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>SE3ToXYZQUATtuple</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abb6d54940f5cd9204ec74e88c886fbf1</anchor>
      <arglist>(const SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>XYZQUATToSE3_bp</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa7b9ee0fb8bcbd42224d7c37f275b664</anchor>
      <arglist>(const TupleOrList &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>XYZQUATToSE3_ei</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7c86c3edcc0120a844c845b2a13f7680</anchor>
      <arglist>(const Vector7Like &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>conversions.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>conversions_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConversions</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a137bf427231f79b81a244ba9160aedc8</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>copy.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>copy_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>copy_8cpp.html</anchorfile>
      <anchor>a7742ff6a8665684d1e45fae6e7cdf642</anchor>
      <arglist>(test_data_copy)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>copy.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>copy_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6d9f1baf9564617f3ca8a08b73ed8cb2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;origin, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;dest, KinematicLevel kinematic_level)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aca7ab57488941edcd636ddae0c61491c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;origin, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;dest, int kinematic_level)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>copyable.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>copyable_8hpp</filename>
    <class kind="struct">pinocchio::python::CopyableVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>cpp2pybind11.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/pybind11/</path>
    <filename>cpp2pybind11_8cpp</filename>
    <includes id="pybind11_8hpp" name="pybind11.hpp" local="no" imported="no">pinocchio/bindings/python/pybind11.hpp</includes>
    <includes id="pybind11-all_8hpp" name="pybind11-all.hpp" local="no" imported="no">pinocchio/bindings/python/pybind11-all.hpp</includes>
    <member kind="define">
      <type>#define</type>
      <name>JOINT_MODEL_COLLECTION</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a03d7b543cc39aa01ea9bacdfb26daf9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>OPTIONS</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>aec95ee3aec6673f51ed3c6a833a2dc71</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SCALAR</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>aae7e5362e39df9265f4fd78ffa61660a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>intptr_t</type>
      <name>get_ptr</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a3f554ff4dc31b3b3d3b7c989f4098a88</anchor>
      <arglist>(T &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::Model *</type>
      <name>make_model</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>add9177e7ff733299672e4a40f23cd9cd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::SE3</type>
      <name>multiply_se3</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a0c32a7722fe5c9e6fb4a5efffa2a2b2b</anchor>
      <arglist>(pinocchio::SE3 const &amp;a, pinocchio::SE3 const &amp;b)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PYBIND11_MODULE</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a340faf131f2326bef040fce73c5d3e7c</anchor>
      <arglist>(cpp2pybind11, m)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::Model &amp;</type>
      <name>return_same_model_copy</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a9a72b8da174a112cbd53ddeb87bb6ff8</anchor>
      <arglist>(pinocchio::Model &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::Model *</type>
      <name>return_same_model_nocopy</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a82b7e883ad57a8665e53c642eb3239b7</anchor>
      <arglist>(pinocchio::Model &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test1</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a66e8c23052eff243c3e821b57f3adb92</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>testModel1</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>ae96f91800780d541edc7b0f1c34aa573</anchor>
      <arglist>(pinocchio::Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>intptr_t</type>
      <name>testModel2</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>aad50fa563f0d52d7f60718426e8a009c</anchor>
      <arglist>(pinocchio::Model &amp;model, int i)</arglist>
    </member>
    <member kind="function">
      <type>intptr_t</type>
      <name>testModel3</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>a3ceaa13ca23fc78577482b562e72fc99</anchor>
      <arglist>(pinocchio::Model const &amp;model, int i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>testModel_manual</name>
      <anchorfile>cpp2pybind11_8cpp.html</anchorfile>
      <anchor>ac1516cff104915fede1dabf63c1cb4b7</anchor>
      <arglist>(pybind11::object model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppad-algo-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppad-algo-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-algo-derivatives_8cpp.html</anchorfile>
      <anchor>ab090944966067dd2e2132c57633d1328</anchor>
      <arglist>(test_rnea_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-algo-derivatives_8cpp.html</anchorfile>
      <anchor>afab98ea70cad9af4de4bd9a3f2e4a2f1</anchor>
      <arglist>(test_aba_derivatives)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppad-algo.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppad-algo_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-algo_8cpp.html</anchorfile>
      <anchor>ac0d6c1cdc7067f303e580ccea2d45e1d</anchor>
      <arglist>(test_mass_matrix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-algo_8cpp.html</anchorfile>
      <anchor>a2b76da2d8ae7adf49fe61bd44de9c3e4</anchor>
      <arglist>(test_kinematics_jacobian)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppad-basic.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppad-basic_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>a72c1cb4124c4e388015461790d26d836</anchor>
      <arglist>(test_example1_cppad)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>ad9f7dcd3bc7286f9a2809d4bec1ce3f1</anchor>
      <arglist>(test_example2_cppad)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>ab788042a632f7bd5afca1d839c5155b7</anchor>
      <arglist>(test_sincos)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>a476987c0f2205d92ba8f22b50fffcef9</anchor>
      <arglist>(test_eigen_min)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>a67eab098198492161407ec23f311e918</anchor>
      <arglist>(test_eigen_max)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>a78c4051969fdf03557c59ae25f79d47d</anchor>
      <arglist>(test_eigen_support)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>a1f237ad2ed8206e6bbbe6556b313875f</anchor>
      <arglist>(test_abs)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-basic_8cpp.html</anchorfile>
      <anchor>a5d254a94fcbfe1a3409f641e68b2d64a</anchor>
      <arglist>(test_atan2)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppad-joint-configurations.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppad-joint-configurations_8cpp</filename>
    <includes id="model-generator_8hpp" name="model-generator.hpp" local="yes" imported="no">utils/model-generator.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-joint-configurations_8cpp.html</anchorfile>
      <anchor>a235ec0450b5ffa43a55bc62a28b0249f</anchor>
      <arglist>(test_joint_configuration)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppad-joints.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppad-joints_8cpp</filename>
    <class kind="struct">TestADOnJoints</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-joints_8cpp.html</anchorfile>
      <anchor>a0d831b429c06d917ec6ba140eda2e8f6</anchor>
      <arglist>(test_jointRX_motion_space)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-joints_8cpp.html</anchorfile>
      <anchor>a58f4039f8b5b2ce8a6aa95c53ff3f81b</anchor>
      <arglist>(test_all_joints)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppad-spatial.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppad-spatial_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-spatial_8cpp.html</anchorfile>
      <anchor>a57b6df1660243a880b846961437df5d8</anchor>
      <arglist>(test_log3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-spatial_8cpp.html</anchorfile>
      <anchor>a1f3e19607cf512bf9ea5133b038132a1</anchor>
      <arglist>(test_explog_translation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppad-spatial_8cpp.html</anchorfile>
      <anchor>aaa1ee467be6d3453d43128f744a86d66</anchor>
      <arglist>(test_explog)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, 0 &gt;</type>
      <name>computeV</name>
      <anchorfile>cppad-spatial_8cpp.html</anchorfile>
      <anchor>afc9db4ff5ff5978cafc9dd7bfbb07c9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v3)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, 0 &gt;</type>
      <name>computeVinv</name>
      <anchorfile>cppad-spatial_8cpp.html</anchorfile>
      <anchor>ac176689be0617355fd5e4ed403020c89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v3)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>autodiff/cppad.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/</path>
    <filename>autodiff_2cppad_8hpp</filename>
    <class kind="struct">Eigen::internal::cast_impl&lt; CppAD::AD&lt; Scalar &gt;, Scalar &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt; CppAD::AD&lt; Scalar &gt; &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; CppAD::AD&lt; Base &gt; &gt;</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion&lt; CppAD::AD&lt; Scalar &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::math</namespace>
    <namespace>boost::math::constants</namespace>
    <namespace>boost::math::constants::detail</namespace>
    <namespace>CppAD</namespace>
    <namespace>Eigen</namespace>
    <namespace>Eigen::internal</namespace>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>EIGEN_MATRIXBASE_PLUGIN</name>
      <anchorfile>autodiff_2cppad_8hpp.html</anchorfile>
      <anchor>afc792de073c9a00a2f3739a451be4312</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_WITH_CPPAD_SUPPORT</name>
      <anchorfile>autodiff_2cppad_8hpp.html</anchorfile>
      <anchor>ab07129bcdd5448afe74f3265649da674</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Base &gt;</type>
      <name>abs2</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a9268fed7859d2b2da1ae2e65632dcb56</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>const AD&lt; Base &gt; &amp;</type>
      <name>conj</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a23834329688bd145b4ad9864371a3c12</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Base &gt;</type>
      <name>imag</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a5c293e2bde2d2499431b979074d4f351</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Scalar &gt;</type>
      <name>max</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a39fbcd1e6f061fea98cc1fc398eb83d7</anchor>
      <arglist>(const AD&lt; Scalar &gt; &amp;x, const AD&lt; Scalar &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Scalar &gt;</type>
      <name>min</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a8e858d59c87747a06bb671f3a3f90cfc</anchor>
      <arglist>(const AD&lt; Scalar &gt; &amp;x, const AD&lt; Scalar &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>const AD&lt; Base &gt; &amp;</type>
      <name>real</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>abe95dcb729610b27bf89d5cd86d08fa5</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>math/cppad.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>math_2cppad_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>cppadcg-algo.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppadcg-algo_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppadcg-algo_8cpp.html</anchorfile>
      <anchor>ae1da29be6625e6a28939f6f493221724</anchor>
      <arglist>(test_crba_code_generation)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppadcg-basic.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppadcg-basic_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppadcg-basic_8cpp.html</anchorfile>
      <anchor>ac82f25a1420dfb9e7957e001fb9ffc83</anchor>
      <arglist>(test_simple_cppadcg)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppadcg-basic_8cpp.html</anchorfile>
      <anchor>a78c4051969fdf03557c59ae25f79d47d</anchor>
      <arglist>(test_eigen_support)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppadcg-basic_8cpp.html</anchorfile>
      <anchor>a58c86606c70ba2dbf9f089c54e4b543f</anchor>
      <arglist>(test_cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppadcg-basic_8cpp.html</anchorfile>
      <anchor>a9f537ec679673f35c42b0eeacae236c0</anchor>
      <arglist>(test_dynamic_link)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cppadcg-joint-configurations.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>cppadcg-joint-configurations_8cpp</filename>
    <includes id="model-generator_8hpp" name="model-generator.hpp" local="yes" imported="no">utils/model-generator.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>cppadcg-joint-configurations_8cpp.html</anchorfile>
      <anchor>ad8b8048254b44445408ee06414d68bf9</anchor>
      <arglist>(test_joint_configuration_code_generation)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>codegen/cppadcg.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/codegen/</path>
    <filename>codegen_2cppadcg_8hpp</filename>
    <class kind="struct">Eigen::internal::cast_impl&lt; CppAD::cg::CG&lt; Scalar &gt;, Scalar &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt; CppAD::cg::CG&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion&lt; CppAD::cg::CG&lt; Scalar &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::math</namespace>
    <namespace>boost::math::constants</namespace>
    <namespace>boost::math::constants::detail</namespace>
    <namespace>CppAD</namespace>
    <namespace>CppAD::cg</namespace>
    <namespace>Eigen</namespace>
    <namespace>Eigen::internal</namespace>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_WITH_CPPADCG_SUPPORT</name>
      <anchorfile>codegen_2cppadcg_8hpp.html</anchorfile>
      <anchor>a6d71d4d218ab221f3d7645ab0adb91e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isfinite</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>aceeebaf1cabca41d93276316166f1ef5</anchor>
      <arglist>(const AD&lt; Scalar &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isfinite</name>
      <anchorfile>namespaceCppAD_1_1cg.html</anchorfile>
      <anchor>a8d59b45551502c28e5f32033b6dc8fc1</anchor>
      <arglist>(const CG&lt; Scalar &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>math/cppadcg.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>math_2cppadcg_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>crba.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>crba_8cpp</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addJointAndBody</name>
      <anchorfile>crba_8cpp.html</anchorfile>
      <anchor>a630f412e58758cbdb2d2cef6fa291dd1</anchor>
      <arglist>(pinocchio::Model &amp;model, const pinocchio::JointModelBase&lt; JointModel &gt; &amp;joint, const std::string &amp;parent_name, const std::string &amp;name, const pinocchio::SE3 placement=pinocchio::SE3::Random(), bool setRandomLimits=true)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>crba_8cpp.html</anchorfile>
      <anchor>a92e3e9a377106296f929d16a03e37967</anchor>
      <arglist>(test_crba)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>crba_8cpp.html</anchorfile>
      <anchor>a4a95a4486e7871bcbabc4eebafc894c3</anchor>
      <arglist>(test_minimal_crba)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>crba.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>crba_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>crba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad3da115c312299adc15978286aa82b10</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>crbaMinimal</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a36288ce8586bb7cb0cc5a83eefe04646</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4a61f954962a9138e3d41a66281d2a65</anchor>
      <arglist>(CRBA)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>data.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>data_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>data_8cpp.html</anchorfile>
      <anchor>a8b00baa6473198ce12bf0cce3da9f6f8</anchor>
      <arglist>(test_empty_model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>data_8cpp.html</anchorfile>
      <anchor>a4e5bd0dc54659a9f58bdbdc80c20cfac</anchor>
      <arglist>(test_data_start_idx_v_fromRow)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>data_8cpp.html</anchorfile>
      <anchor>af1b3e4a5a1a03b684a595fe780cf0822</anchor>
      <arglist>(test_data_supports_fromRow)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>data_8cpp.html</anchorfile>
      <anchor>a9f86e0562f4daa24340c7b0499596d46</anchor>
      <arglist>(test_copy_and_equal_op)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>data_8cpp.html</anchorfile>
      <anchor>a9004b66e19bd59f0d4bf70463fa46625</anchor>
      <arglist>(test_container_aligned_vector)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>data_8cpp.html</anchorfile>
      <anchor>a26076f227f8bc175f0b152a9af093bac</anchor>
      <arglist>(test_std_vector_of_Data)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/multibody/data.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>bindings_2python_2multibody_2data_8hpp</filename>
    <includes id="bindings_2python_2serialization_2serializable_8hpp" name="bindings/python/serialization/serializable.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serializable.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <class kind="struct">pinocchio::python::DataPythonVisitor</class>
    <class kind="struct">pinocchio::python::PickleData</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="define">
      <type>#define</type>
      <name>ADD_DATA_PROPERTY</name>
      <anchorfile>bindings_2python_2multibody_2data_8hpp.html</anchorfile>
      <anchor>a4c79805db51802ca3e29c865882f5030</anchor>
      <arglist>(NAME, DOC)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>ADD_DATA_PROPERTY_READONLY</name>
      <anchorfile>bindings_2python_2multibody_2data_8hpp.html</anchorfile>
      <anchor>a690961c011129a45f3b5bd70a562a88a</anchor>
      <arglist>(NAME, DOC)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>ADD_DATA_PROPERTY_READONLY_BYVALUE</name>
      <anchorfile>bindings_2python_2multibody_2data_8hpp.html</anchorfile>
      <anchor>ac905732f61c1e089986af94cb4872871</anchor>
      <arglist>(NAME, DOC)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/multibody/data.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>src_2multibody_2data_8hpp</filename>
    <class kind="struct">pinocchio::DataTpl</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/data.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2data_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MAKE_DATA_NVP</name>
      <anchorfile>src_2serialization_2data_8hpp.html</anchorfile>
      <anchor>ad13092ea3535c265037e5e4311aa913a</anchor>
      <arglist>(ar, data, field_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a3816d0d53ec5e27e3cf635cff78dd208</anchor>
      <arglist>(Archive &amp;ar, pinocchio::DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>dcrba.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/derivative/</path>
    <filename>dcrba_8py</filename>
    <class kind="class">dcrba::Coriolis</class>
    <class kind="class">dcrba::DCRBA</class>
    <class kind="class">dcrba::DRNEA</class>
    <class kind="class">dcrba::VRNEA</class>
    <namespace>dcrba</namespace>
    <member kind="function">
      <type>def</type>
      <name>hessian</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a82980ae7bcc17d55b778ebd015fbb4e5</anchor>
      <arglist>(robot, q, crossterms=False)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>aq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>aba9eed11b17e5fcd68a6a52339f61c40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>C</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>acde17e5dfb51c925801d9509a865b6b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>coriolis</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a5713615b571f1ec84fd5153c416bf8d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dcrba</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a96e7acebec78e7214d827c0cc82508d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dM</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ab6cfa9ef31a60a3e343696f3796d454c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a6bb00d08ccf0354c82a0264b68ae805d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>drnea</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a008ac147ee9188827df1905e0b19cb21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>eps</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a0c3f7d8217ab708e35b4ec860bc633d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gravity</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a81f3f9b893b4896bc4593532b6d4a3f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>def</type>
      <name>H</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a24828097d4f3cb0575bca1efcb85a6d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Htrue</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>aa71e695f5825e8dfe0f2f8aed1451fd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mp</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ac1c47116e44c326f197972dadae155fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NV</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a16d52504983e300b1ccc83645c3d96ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a7c700cd16e0944cb2127c605a83e90d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a095d1750f876a560495585f60a489eea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qdq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a9e6efc25ec0919ebbf06144b64876a5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ad0fdb04c8661aece3715992b26267bbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r0</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ae395b317085bc74c1fba2d4a0f89010c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Rd</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a618c30c8a2bafb8062398379bf510f7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rnea0</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a53a7150d5494236a935e69766739a312</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a57e4e53c0569f859e66368ff3f1c1299</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a9970c515a4fd997b1e601b31c38a94e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>vq1</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a5829cede1da81449db1f864f31b02f7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vrnea</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a011a002e79101dc1595cd684dc65c435</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>default-check.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>default-check_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>DEFAULT_CHECKERS</name>
      <anchorfile>default-check_8hpp.html</anchorfile>
      <anchor>a8e6d082f1e6765bef421d0ad93c8debe</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>AlgorithmCheckerList&lt; ParentChecker, CRBAChecker, ABAChecker &gt;</type>
      <name>makeDefaultCheckerList</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af526e1ce1a83745dddbe50b0747d0c8f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>dependencies.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>dependencies_8cpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeDependencies</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a40c596375570d403eceedd966cce30a2</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>dependencies.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>dependencies_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeDependencies</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a40c596375570d403eceedd966cce30a2</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>deprecated-macros.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/</path>
    <filename>deprecated-macros_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>deprecated-namespaces.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/</path>
    <filename>deprecated-namespaces_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>deprecated.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>deprecated_8py</filename>
    <class kind="class">pinocchio::deprecated::GeometryObject</class>
    <namespace>pinocchio::deprecated</namespace>
    <member kind="function">
      <type>def</type>
      <name>buildGeomFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ac2b2307766e72c5868be3722b540c869</anchor>
      <arglist>(model, filename, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCentroidalDynamics</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ad5ee2a4f08c54415edcfe2a95a3a6a75</anchor>
      <arglist>(model, data, q, v, a=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>aaa542d84e0f986a94a439cbefa6b044d</anchor>
      <arglist>(model, data, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameJacobian</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a2f9bdeb7ffc289e350908f4defca7023</anchor>
      <arglist>(model, data, q, frameId)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ad3f4bf8ae006d84ffcb658e507e2f8b5</anchor>
      <arglist>(model, data, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jointJacobian</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ab1e1b2dbe82e34bc22a62e833a987c39</anchor>
      <arglist>(model, data, q, jointId)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>kineticEnergy</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a5bb528a336c628b20e04e8d33065f296</anchor>
      <arglist>(model, data, q, v, update_kinematics=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>potentialEnergy</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>af9dd9ee369d71caf9826e2f49eee6795</anchor>
      <arglist>(model, data, q, update_kinematics=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>se3ToXYZQUAT</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>af5e0f85863950ad9e50386f0913f3ad9</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>se3ToXYZQUATtuple</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a3bd65a11611b2634aef17342685a634b</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setGeometryMeshScales</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a51b672663a89d67f2111a2f978908b6f</anchor>
      <arglist>(geom_model, mesh_scale)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>XYZQUATToSe3</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a76ece0785bf68483c54547bbe2c1048c</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>npToTTuple</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ae41e4ddb07e6705046694c318c7a8c07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>npToTuple</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>aea9d70a9197e23111b492196c66867ae</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/utils/deprecation.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>bindings_2python_2utils_2deprecation_8hpp</filename>
    <class kind="struct">pinocchio::python::deprecated_function</class>
    <class kind="struct">pinocchio::python::deprecated_member</class>
    <class kind="struct">pinocchio::python::deprecated_warning_policy</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/deprecation.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/</path>
    <filename>src_2deprecation_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>deprecation.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>deprecation_8py</filename>
    <class kind="class">pinocchio::deprecation::DeprecatedWarning</class>
    <namespace>pinocchio::deprecation</namespace>
    <member kind="function">
      <type>def</type>
      <name>deprecated</name>
      <anchorfile>namespacepinocchio_1_1deprecation.html</anchorfile>
      <anchor>a379d108e207c124eafd96ce720844a21</anchor>
      <arglist>(instructions)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>display-shapes-meshcat.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>display-shapes-meshcat_8py</filename>
    <namespace>display-shapes-meshcat</namespace>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a5e94c2ffe6c480083f99f3613c13597e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a3b14692dc2fcaaec91534ce2c2bbd5dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_obj</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a14b4efdf258e4e8180dd8472a2f757f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>geometries</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a868017681deb2c188867eacd36e38002</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a6be1550da550ba3a7751ace503ae5001</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>abbe390ac1cec92b3928d5479bf7a54b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>aad60dfe00c95dd7f5c714d860eda6f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a0731db2c6f9dd077f7ee221cfe77f94d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>af8a3785dbed005ec071883827419f104</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>display-shapes.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>display-shapes_8py</filename>
    <namespace>display-shapes</namespace>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a75fd43cbf011f5070aea2845d6960e89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a7bb8834b6c9b2d9a6ad70754a639a0e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_obj</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a65576d108220872c7d2c3fd5d39d3474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>geometries</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>ac1ee08637cbb2b8724fff0d7be950475</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a0509316d2c0e74591fb8ba48e215fc09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a0721b798c0dfafdb91090d966831d4b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>abd79ffcaa967d810a47a2cfbcdbfc85e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>ac7f4b6ce5d7523a49350944584bfadc5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>display.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>display_8py</filename>
    <class kind="class">display::Display</class>
    <namespace>display</namespace>
  </compound>
  <compound kind="file">
    <name>dpendulum.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>dpendulum_8py</filename>
    <class kind="class">dpendulum::DPendulum</class>
    <namespace>dpendulum</namespace>
    <member kind="function">
      <type>def</type>
      <name>c2d</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>afe15a62105c55c211f22bafa0f93c392</anchor>
      <arglist>(qv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>c2dq</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a965c5c0553780b0be93b72d256f9d07e</anchor>
      <arglist>(q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>c2du</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a56befa754568d60ff78bacf9baecf088</anchor>
      <arglist>(u)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>c2dv</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a99cf412803dea8c8778b3734392cea95</anchor>
      <arglist>(v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2c</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>abaf6cef2e235dc9271602291bcb48963</anchor>
      <arglist>(iqv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2cq</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a06972507a6ac7e98228aa244db5f6d98</anchor>
      <arglist>(iq)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2cu</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a85dca53257ddfca449df93492e1f6214</anchor>
      <arglist>(iu)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2cv</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a70e716b0b8ffba8e28094b27143b6f04</anchor>
      <arglist>(iv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>i2x</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>aeec6c10bbced350edcbaeb5653526ccd</anchor>
      <arglist>(i)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>x2i</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a226c0e0fb5b00ac1cdfe04a881437aa4</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DQ</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a72c7c6e68fdf11cef73021eed3ee0328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DT</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ac6925ae9f65908794e071207bd0cd20b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DU</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>add636dc3b7cf1e7208753a46df4dded7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DV</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ad61179e1cb946b431ee6433e55823746</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NQ</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a61e2b17ae1c2bc64305969c565b3911f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NU</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>afc2c748ecc10b201f0e9ea6ba6707209</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NV</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ae19b279c9a2a00c57c463f9919e4e9b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>p</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ae558d9250a26ead2b6f06ee71f490dcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>UMAX</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a3a091ad71f6d7a5135ec39e970cf43ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>VMAX</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a13ee4ceb492a6bbab6d860ce227834b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/cython/dummy.cpp</name>
    <path>/tmp/ws/src/pinocchio/cmake/cython/</path>
    <filename>cmake_2cython_2dummy_8cpp</filename>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/cython/dummy.cpp</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/cython/</path>
    <filename>models_2example-robot-data_2cmake_2cython_2dummy_8cpp</filename>
  </compound>
  <compound kind="file">
    <name>dynamics.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>dynamics_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>eigen-basic-op.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>eigen-basic-op_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>eigen-basic-op_8cpp.html</anchorfile>
      <anchor>a3999830437ee84ddf288e997b938bb67</anchor>
      <arglist>(test_matrix_matrix_product)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>eigen-basic-op_8cpp.html</anchorfile>
      <anchor>a38ee53ce1825014eb43c89e8a98dfbc9</anchor>
      <arglist>(test_scalar_matrix_product)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>eigen-basic-op_8cpp.html</anchorfile>
      <anchor>a9853971a29e626a9a1b1d80a990fdc37</anchor>
      <arglist>(test_matrix_scalar_product)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>eigen-fix.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>eigen-fix_8hpp</filename>
    <class kind="struct">pinocchio::fix::Eigen::internal::plain_matrix_type_row_major</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::fix</namespace>
    <namespace>pinocchio::fix::Eigen</namespace>
    <namespace>pinocchio::fix::Eigen::internal</namespace>
  </compound>
  <compound kind="file">
    <name>eigen-macros.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/</path>
    <filename>eigen-macros_8hpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_CONST_CAST</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>aed81fb0096973a540ac7196bb8344857</anchor>
      <arglist>(TYPE, OBJ)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_DOT_PRODUCT_RETURN_TYPE</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>a66bdd257204dd55ae92992fb4ce9697c</anchor>
      <arglist>(D1, D2)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>ad78d709771a25bc1239f29899728eb9a</anchor>
      <arglist>(D)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>a66799eaab67c34fcc5c961e7c7813843</anchor>
      <arglist>(D)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>a4bc31abac89d2cc5a5592a17a1750838</anchor>
      <arglist>(D)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>a947c3ba3fec4a404e3f0bcca196e823b</anchor>
      <arglist>(D)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>a7567ed3aabae03ebdddbecf5c2c6ce35</anchor>
      <arglist>(D)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>eigen-macros_8hpp.html</anchorfile>
      <anchor>a86572e5df10a880f8da2718c8707a342</anchor>
      <arglist>(D)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>eigen-tensor.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>eigen-tensor_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>eigen-tensor_8cpp.html</anchorfile>
      <anchor>ac7f3184f69b97f4f9c79f473a458c815</anchor>
      <arglist>(test_emulate_tensors)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/utils/eigen.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>bindings_2python_2utils_2eigen_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Eigen::Ref&lt; Matrix &gt;</type>
      <name>make_ref</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a677e60d1aecdd2ebcf17adb09aa63ac6</anchor>
      <arglist>(Eigen::PlainObjectBase&lt; Matrix &gt; &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>make_symmetric</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a511dabde86bab360806115f421672cdd</anchor>
      <arglist>(Eigen::MatrixBase&lt; Matrix &gt; &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a44466d3b241e57bd5d966ebaa2dc843d</anchor>
      <arglist>(Matrix) make_copy(const Eigen</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/serialization/eigen.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2eigen_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a93b80670d1f3fdc7a48e6d3f506bcbe5</anchor>
      <arglist>(Archive &amp;ar, Eigen::array&lt; _IndexType, _NumIndices &gt; &amp;a, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a2a37954f786b8f472b3cf3e9494e1dd2</anchor>
      <arglist>(Archive &amp;ar, ::pinocchio::Tensor&lt; _Scalar, _NumIndices, _Options, _IndexType &gt; &amp;t, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>af75d8fedb7c0ad81d265566cd20a5b17</anchor>
      <arglist>(Archive &amp;ar, const Eigen::array&lt; _IndexType, _NumIndices &gt; &amp;a, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a115c94190a4cbcf1dc3a185c5320e77d</anchor>
      <arglist>(Archive &amp;ar, const ::pinocchio::Tensor&lt; _Scalar, _NumIndices, _Options, _IndexType &gt; &amp;t, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a209757bbc6d90ffe41958f4def42bb87</anchor>
      <arglist>(Archive &amp;ar, Eigen::array&lt; _IndexType, _NumIndices &gt; &amp;a, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab41108a49b6d90b82f97bfe62d0e8ca8</anchor>
      <arglist>(Archive &amp;ar, ::pinocchio::Tensor&lt; _Scalar, _NumIndices, _Options, _IndexType &gt; &amp;t, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>eigen_plugin.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/cppad/math/</path>
    <filename>eigen__plugin_8hpp</filename>
    <member kind="typedef">
      <type>Scalar</type>
      <name>value_type</name>
      <anchorfile>eigen__plugin_8hpp.html</anchorfile>
      <anchor>afd07186978da46f9908364e389f8a403</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>energy.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>energy_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>energy_8cpp.html</anchorfile>
      <anchor>aa83f60fdde37ef24592b32a20333df13</anchor>
      <arglist>(test_kinetic_energy)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>energy_8cpp.html</anchorfile>
      <anchor>aa678c89d9d6c768e6a6f5841b9f9ba41</anchor>
      <arglist>(test_potential_energy)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>energy.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>energy_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>Scalar</type>
      <name>computeKineticEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b3395c59e96181abf31f8901dd7821c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeKineticEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af5580b04e71977ec3f45029b387ffd75</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computePotentialEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7c075257a13d2131a88cc0ade164c2c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computePotentialEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aca2fedea4d3fddba060fdd68229a061c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED Scalar</type>
      <name>kineticEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae5f44da66618a11b79438f4d26f947fb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED Scalar</type>
      <name>potentialEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa728ccf52980b0d99a2d6cace122f483</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool update_kinematics)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>explog-quaternion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>explog-quaternion_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::quaternion</namespace>
    <member kind="function">
      <type>void</type>
      <name>exp3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a0aa22fe1862affd1b021c6357d0f0d93</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat_out)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Quaternion&lt; typename Vector3Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>exp3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a1af2d4aeea50fdee2b3f28fff71bf063</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3CoeffWise</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>addbd1b246b1a08c8a5e8ddaef250109b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix43Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a79ca19f810141fbe03878cb7d6a8da83</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a41651758cdab98188c9f675a5abe5bc9</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, typename QuaternionLike::Scalar &amp;theta)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a366593ad2ab1a067e0cc3201a9e074a0</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>explog.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>explog_8cpp</filename>
    <includes id="unittest_2utils_2macros_8hpp" name="unittest/utils/macros.hpp" local="yes" imported="no">utils/macros.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a3ff6893bdf13e5781298fd20da0103b9</anchor>
      <arglist>(exp)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>afd48b7ba77454be07d9f39e10030c2f4</anchor>
      <arglist>(log)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a44a0bb27fda178f19448af508eead3ae</anchor>
      <arglist>(explog3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a29e24dc04f7b777072078b2f76fc734d</anchor>
      <arglist>(explog3_quaternion)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a7aefb06c7d62cd1dbd9ca6b0dbe3bb57</anchor>
      <arglist>(Jlog3_fd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>abe4e180869d81726d94163160ca29069</anchor>
      <arglist>(Jexp3_fd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a3e06e9784a24d08ecf2d8a40c5ef5bb0</anchor>
      <arglist>(Jexp3_quat_fd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>aa22a79005d0c5172279f33fe0a7a0f21</anchor>
      <arglist>(Jexp3_quat)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a215e4ced09b558f72f20612b70fe0c06</anchor>
      <arglist>(Jexplog3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>ae61fdca41d122874d8c4777e93ada904</anchor>
      <arglist>(Jlog3_quat)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a1cd2adb867173f99ee9dc77404e6506c</anchor>
      <arglist>(explog6)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>af369f7519520c33a5e8806aff2729755</anchor>
      <arglist>(Jlog6_fd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>ad660ca4e4821b680fbbf6d8331f7c642</anchor>
      <arglist>(Jlog6_of_product_fd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>ab438db4743ef466390e7150ea19ade2c</anchor>
      <arglist>(Jexplog6)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>aa429e179f9653ea2cf72b9d6aaab23bf</anchor>
      <arglist>(Hlog3_fd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a54254c4953def431e744e375e42abc68</anchor>
      <arglist>(test_basic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>a5031a75018fc08971183559e61a4eb22</anchor>
      <arglist>(test_SE3_interpolate)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3QuatLocal</name>
      <anchorfile>explog_8cpp.html</anchorfile>
      <anchor>abc46ae5d0a6c9892e685093fcc2148c3</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, const Eigen::MatrixBase&lt; Matrix43Like &gt; &amp;Jexp)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/spatial/explog.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>bindings_2python_2spatial_2explog_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>exp3_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa2d7e2582dd7a3b353de05b2a6dc852f</anchor>
      <arglist>(const Vector3Like &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>exp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1baa65f8c69c8bd20b4ad0d5e454418e</anchor>
      <arglist>(const MotionTpl&lt; Scalar, Options &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options &gt;</type>
      <name>exp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2c38baa75519d9e64c88ce0bcd153ded</anchor>
      <arglist>(const Vector6Like &amp;vec6)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Hlog3</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a3d83a4e28eb428a1b756893349932ac4</anchor>
      <arglist>(M, v, res)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>Jexp3_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9c22e1e7442dcf96d7c8e3c7d07887ef</anchor>
      <arglist>(const Vector3Like &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;::Matrix6</type>
      <name>Jexp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a690b5ba6d3460b2a7d9fbe6c9949439d</anchor>
      <arglist>(const MotionTpl&lt; Scalar, Options &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector6Like::Scalar, 6, 6, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options &gt;</type>
      <name>Jexp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9e919ed673f7ce8aac15b77e08242e69</anchor>
      <arglist>(const Vector6Like &amp;vec6)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;::Matrix6</type>
      <name>Jlog6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a27bb4245fb28b5e9e928b9bd03adc8c1</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>log3_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8f0e5b8d3017d09d09a44905fb3db8ca</anchor>
      <arglist>(const Matrix3Like &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; typename Matrix4Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options &gt;</type>
      <name>log6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac42d5804c4278a00467380df0850d22c</anchor>
      <arglist>(const Matrix4Like &amp;homegenous_matrix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1cc9b96b55866478fdae7c5743021646</anchor>
      <arglist>(Matrix3Like) Jlog3_proxy(const Matrix3Like &amp;M)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abc6756809a9e663696e9298db15226ff</anchor>
      <arglist>(Matrix3Like) Hlog3_proxy(const Matrix3Like &amp;M</arglist>
    </member>
    <member kind="variable">
      <type>ReturnType</type>
      <name>res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae00fb61d0f449237426ebc59ad49d9c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const Vector3Like &amp;</type>
      <name>v</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a29aab1d255012212d6652c7590212654</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/spatial/explog.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>src_2spatial_2explog_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>exp3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42bd3639610c49bf55022ae536ffc5f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; typename MotionDerived::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options &gt;</type>
      <name>exp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4849c5b017caafb8634260b5ad2a43eb</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;nu)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options &gt;</type>
      <name>exp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97e07aa9dfc7c2f96a542d5f26a4884d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector6Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Hlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab9113d3afd571df2f1a9ea025145c9d7</anchor>
      <arglist>(const Scalar &amp;theta, const Eigen::MatrixBase&lt; Vector3Like1 &gt; &amp;log, const Eigen::MatrixBase&lt; Vector3Like2 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;vt_Hlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Hlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af161bce0560ad0697bc5ee614e32fb88</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like1 &gt; &amp;R, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3Like2 &gt; &amp;vt_Hlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a08fbc06d6caeae9c60a0412c82b87590</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;r, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aac08f53125057572ac5838ec88164963</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;r, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a218ad95514aa1152eb5d83560bb56b86</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;nu, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aafe310d093976e3a3be626848c34bfda</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;nu, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a756cdb33ab783f34248c45d08aef00f4</anchor>
      <arglist>(const Scalar &amp;theta, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;log, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a03480af393307e416683708319e2d2ad</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like1 &gt; &amp;R, const Eigen::MatrixBase&lt; Matrix3Like2 &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab17df97cd3cbec6801112c074a8b5377</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;M, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad0ae6998b2b9c18379103338625bb6bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R, typename Matrix3Like::Scalar &amp;theta)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a55025e900a38ed78e3e246bdbfb6daf7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>log6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0b9165aaf6d0b46d9aa2b09d96f83eaf</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; typename Matrix4Like::Scalar, Eigen::internal::traits&lt; Matrix4Like &gt;::Options &gt;</type>
      <name>log6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4cc4429a3d2190626fc6a3a5b383d23e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix4Like &gt; &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/pinocchio/explog.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>bindings_2python_2pinocchio_2explog_8py</filename>
    <namespace>pinocchio::explog</namespace>
    <member kind="function">
      <type>def</type>
      <name>exp</name>
      <anchorfile>namespacepinocchio_1_1explog.html</anchorfile>
      <anchor>aa0d6560b9ca42ae94f26aabfdf245b0c</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>log</name>
      <anchorfile>namespacepinocchio_1_1explog.html</anchorfile>
      <anchor>a4a30dac644c7c498446783b4bf5eacda</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1explog.html</anchorfile>
      <anchor>ac98be681c5712e3df8fc355e3b73fb15</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/python/explog.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>unittest_2python_2explog_8py</filename>
    <class kind="class">explog::TestExpLog</class>
    <namespace>explog</namespace>
  </compound>
  <compound kind="file">
    <name>expose-aba-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-aba-derivatives_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="bindings_2python_2utils_2eigen_8hpp" name="bindings/python/utils/eigen.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/eigen.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeABADerivatives_fext</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a004411bee7436d175441d0cfd8f8691e</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau, const ForceAlignedVector &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeABADerivativesDefault</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a81830792d65db6754ac5d7c9dc501394</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeABADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa2546b34e5753b18daaf29307743277f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a60354e1c20198871735c4f9ebc72fc21</anchor>
      <arglist>(Force) ForceAlignedVector</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-aba.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-aba_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="bindings_2python_2utils_2eigen_8hpp" name="bindings/python/utils/eigen.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/eigen.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>const Data::RowMatrixXs &amp;</type>
      <name>computeMinverse_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab3682f5c1dfa722c6266ea7b1e33332</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeABA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aad361e540474a4b7301660ec624c019f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-algorithms.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-algorithms_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeAlgorithms</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1d1bf53d64e008476f02627d111f41e3</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-cat.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-cat_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeAllTerms_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a02143b50e0780e1889f9df297733e9db</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCAT</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad2e6b130271ba110ec8e2ff488990dd3</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-centroidal-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-centroidal-derivatives_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeCentroidalDynamicsDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac11aa33e2152bfca0b6e6af21d2466cd</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCentroidalDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>afd49356538d9fd03a19be3ea02ce4a8b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getCentroidalDynamicsDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a872d1fdb8f55df9c151be819b6b55863</anchor>
      <arglist>(const Model &amp;model, Data &amp;data)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-centroidal.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-centroidal_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeCentroidal</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a07cdc8983481120b5090c4d61ac80a9e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-cholesky.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-cholesky_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="namespace_8hpp" name="namespace.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/namespace.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeCholesky</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aaef6a4dd97db398c633cc4447e2608ae</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-com.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-com_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="bindings_2python_2utils_2deprecation_8hpp" name="bindings/python/utils/deprecation.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/deprecation.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static SE3::Vector3</type>
      <name>com_0_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2ca27dd375b7af6d15867acb04eaac90</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3::Vector3</type>
      <name>com_1_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae8cc8431b33c3b70ca04551806994c3d</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3::Vector3</type>
      <name>com_2_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad815799bb6679bd404f67e75d27c1c81</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Data::Vector3 &amp;</type>
      <name>com_default_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae69a8cd140ea423c7417046796e372ea</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Data::Vector3 &amp;</type>
      <name>com_level_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5a0c7622201b88ad9f11f5d8cffef547</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, KinematicLevel kinematic_level, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>com_level_proxy_deprecated_signature</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a66be355f8593aa73da544216a0518190</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, int kinematic_level, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCOM</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9a6f4d066bf201ff79150d68fa7e6d9c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix3x</type>
      <name>get_jacobian_subtree_com_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9b52c2428749968b25a02fec2fdc95c6</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix3x</type>
      <name>jacobian_subtree_com_kinematics_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abfc192fb2445b50aef70cf84966186c9</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix3x</type>
      <name>jacobian_subtree_com_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abee1ff725384a855a4ac1be83f8b9558</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-contact-dynamics.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-contact-dynamics_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_FUNCTION_OVERLOADS</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af429741186cf0e625aacc37b31800de0</anchor>
      <arglist>(computeKKTContactDynamicMatrixInverse_overload, computeKKTContactDynamicMatrixInverse_proxy, 4, 5) static const Eigen</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>computeKKTContactDynamicMatrixInverse_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a299497757306f45da59a3708e789e563</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::MatrixXd &amp;J, const double mu=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeDynamics</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a34b9a847a7044c4e33c328be93072aac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>forwardDynamics_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad920d10ec39f9c97478da42603dce155</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau, const Eigen::MatrixXd &amp;J, const Eigen::VectorXd &amp;gamma, const double inv_damping=0.0)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>forwardDynamics_proxy_no_q</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a472dfa3315d023216116c956909cb3df</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;tau, const Eigen::MatrixXd &amp;J, const Eigen::VectorXd &amp;gamma, const double inv_damping=0.0)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>impulseDynamics_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa8671ef9682132307af22b85fdef0ca9</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v_before, const Eigen::MatrixXd &amp;J, const double r_coeff=0., const double inv_damping=0.)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>impulseDynamics_proxy_no_q</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7d201a0df7cb7991fe52a3946fdacce7</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;v_before, const Eigen::MatrixXd &amp;J, const double r_coeff=0., const double inv_damping=0.)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-crba.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-crba_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>crba_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a66a6ce1a2776a73537f560ad441e5478</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCRBA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa0f4f31acb021236da73e4c5912afe5a</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-data.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>expose-data_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2multibody_2data_8hpp" name="bindings/python/multibody/data.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/data.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeData</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a94a2a779f541270df337f999af456065</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-energy.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-energy_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeEnergy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a546b932061af549c1dabbf3a75e838e9</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-explog.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>expose-explog_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2spatial_2explog_8hpp" name="bindings/python/spatial/explog.hpp" local="yes" imported="no">pinocchio/bindings/python/spatial/explog.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeExplog</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abc465037c2b007984587e86baca53bf7</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-fcl.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/fcl/</path>
    <filename>expose-fcl_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="transform_8hpp" name="transform.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/fcl/transform.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="define">
      <type>#define</type>
      <name>HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION</name>
      <anchorfile>expose-fcl_8cpp.html</anchorfile>
      <anchor>a9ec7fc2a76671cd14ef4803818d52395</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFCL</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac6955aca9acc35a8f6fcea3f0eec447e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-force.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>expose-force_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2spatial_2force_8hpp" name="bindings/python/spatial/force.hpp" local="yes" imported="no">pinocchio/bindings/python/spatial/force.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeForce</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab5b4952ff04ab6077048edf4803243ad</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-frame.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>expose-frame_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2multibody_2frame_8hpp" name="bindings/python/multibody/frame.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/frame.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeFrame</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a0534105ac78dc4babade401cafd0a77e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-frames-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-frames-derivatives_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeFramesDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa1c299d6629761811710cc2de3116601</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getFrameAccelerationDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa455555473bf4575969252c59b8fae5f</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::FrameIndex frame_id, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getFrameVelocityDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a4604148837bb7d1e79e6c010c70aecaf</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::FrameIndex frame_id, ReferenceFrame rf)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-frames.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-frames_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>compute_frame_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a762fd9e3892ab62491c51acde89d06c6</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::FrameIndex frame_id)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>compute_frame_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2a378552fd2452dd7b062f4f149503fc</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::FrameIndex frame_id, ReferenceFrame reference_frame)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFramesAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>acdd35ec3c26f0ac9fc96520639e6ed67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>frame_jacobian_time_variation_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af109e5371c1cb7b8f62f4a189874f814</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Model::FrameIndex frame_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_frame_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac976e18a99f7ccb28a4fe999d7da324a</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::FrameIndex frame_id, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_frame_jacobian_time_variation_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a66cbc0a78ecba8780c6b97b9f00f38c3</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::FrameIndex jointId, ReferenceFrame rf)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algorithm/expose-geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>algorithm_2expose-geometry_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeGeometryAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a58008917b7844f846ce8eeccb8def495</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multibody/expose-geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>multibody_2expose-geometry_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="geometry-object_8hpp" name="geometry-object.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/geometry-object.hpp</includes>
    <includes id="geometry-model_8hpp" name="geometry-model.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/geometry-model.hpp</includes>
    <includes id="geometry-data_8hpp" name="geometry-data.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/geometry-data.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1b2b468d39cceb64921664ad4967a9b1</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-inertia.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>expose-inertia_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2spatial_2inertia_8hpp" name="bindings/python/spatial/inertia.hpp" local="yes" imported="no">pinocchio/bindings/python/spatial/inertia.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeInertia</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab2dec7d2988a32e8c94706f19024544</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-jacobian.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-jacobian_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>compute_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af365ee8bef58e0c7247c096c44c27554</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJacobian</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1713e4974412bc2f8486f4a611e98b12</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aace5886561a29e81c1a183890e96bb82</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_jacobian_time_variation_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac930e402dd6cc715ad885ccab8daffea</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algorithm/expose-joints.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>algorithm_2expose-joints_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>dDifference_arg_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad9c8aa03ce1aae99e496b72c3615188b</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q1, const Eigen::VectorXd &amp;q2, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>dDifference_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aaa888a90faf4542e7c4ddf02cc3f520c</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q1, const Eigen::VectorXd &amp;q2)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>dIntegrate_arg_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae92603ea8d0124fa1e3b20f954ab13a6</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>dIntegrate_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1c9f864d4ca90889cf13676c69058104</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>dIntegrateTransport_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5ff72ce18979203d379faee8954d643d</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::MatrixXd &amp;Jin, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJointsAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac113d72a674a339a6753e52f6449080d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>normalize_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a18e4800caaa66d4d35c5a27c384723b9</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;config)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>randomConfiguration_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5b21c4b36b6d85a6c5c1e213b67618fd</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multibody/joint/expose-joints.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/joint/</path>
    <filename>multibody_2joint_2expose-joints_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="joint-derived_8hpp" name="joint-derived.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/joint/joint-derived.hpp</includes>
    <includes id="joints-variant_8hpp" name="joints-variant.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/joint/joints-variant.hpp</includes>
    <includes id="joint_8hpp" name="joint.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/joint/joint.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeJoints</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2b9593d8d5e44cd892c3b7ff99e87bb8</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-kinematic-regressor.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-kinematic-regressor_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematicRegressor</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a101dd9225fe115b9d1863abce1d2309e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-kinematics-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-kinematics-derivatives_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematicsDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1b58073132e82a2da1669cf9a26ab591</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Data::Matrix3x</type>
      <name>getCoMVelocityDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac461454d37aca2775c5dcf372804f1eb</anchor>
      <arglist>(const Model &amp;model, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getJointAccelerationDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af0a4c10097e68810284c6dcdb2323552</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getJointVelocityDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>afca7c09f35c102ce747cf145598def2c</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-kinematics.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-kinematics_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematics</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a681be384c52474b37ec6cf4dbfb63682</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-liegroups.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>expose-liegroups_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="liegroups_8hpp" name="liegroups.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/liegroups.hpp</includes>
    <includes id="namespace_8hpp" name="namespace.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/namespace.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeLieGroups</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa635f53b6af298098fe6deb9e2fd99bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl&lt; double, 0, LieGroupCollectionDefaultTpl &gt;</type>
      <name>makeLieGroup</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a84ca4de243bb13a6668613b5f906cc22</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl&lt; double, 0, LieGroupCollectionDefaultTpl &gt;</type>
      <name>makeRn</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a017a805fb1d7485413c21d52b7475188</anchor>
      <arglist>(int n)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>algorithm/expose-model.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>algorithm_2expose-model_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="list_8hpp" name="list.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/list.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>bp::tuple</type>
      <name>appendModel_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5014e731ced28a659ac18e626b1f5e61</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const GeometryModel &amp;geomModelA, const GeometryModel &amp;geomModelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8efe3d4147440a871f789b6ea8fbbb69</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const GeometryModel &amp;geom_model, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a41ad8af7fd2b99754f4237855876f7e6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::vector&lt; GeometryModel, Eigen::aligned_allocator&lt; GeometryModel &gt; &gt; &amp;list_of_geom_models, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeModelAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac8e25dfde0dda7d646ced1d0c6dada9a</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multibody/expose-model.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>multibody_2expose-model_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2multibody_2model_8hpp" name="bindings/python/multibody/model.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/model.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a37a8c8e958a8034593d58d3c3c8d14e9</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-motion.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>expose-motion_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2spatial_2motion_8hpp" name="bindings/python/spatial/motion.hpp" local="yes" imported="no">pinocchio/bindings/python/spatial/motion.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeMotion</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a48e12695bbbfe77ac2863ade153c8815</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-parallel.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/parallel/</path>
    <filename>expose-parallel_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelABA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a94043be2876355fb6f6ee81c2224b8be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelAlgorithms</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a742a7911f85473371bbb4c4ce28c2643</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1bea07c4d8dae6daf0fd1e763af599a1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelRNEA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9dd6221c5f03d8a55800016a566e2bc2</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-parsers.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>expose-parsers_8cpp</filename>
    <includes id="bindings_2python_2parsers_2urdf_8hpp" name="bindings/python/parsers/urdf.hpp" local="yes" imported="no">pinocchio/bindings/python/parsers/urdf.hpp</includes>
    <includes id="bindings_2python_2parsers_2srdf_8hpp" name="bindings/python/parsers/srdf.hpp" local="yes" imported="no">pinocchio/bindings/python/parsers/srdf.hpp</includes>
    <includes id="bindings_2python_2parsers_2sample-models_8hpp" name="bindings/python/parsers/sample-models.hpp" local="yes" imported="no">pinocchio/bindings/python/parsers/sample-models.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeParsers</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a76f39d86ca439a1ba87ea9597603b612</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-pool.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/pool/</path>
    <filename>expose-pool_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2multibody_2pool_2model_8hpp" name="bindings/python/multibody/pool/model.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/pool/model.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposePool</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7c1ba8dacef2c79924663bd4965ae682</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-regressor.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-regressor_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>bodyRegressor_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae90511291c8591482321304792f6dc33</anchor>
      <arglist>(const Motion &amp;v, const Motion &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRegressor</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac3379298f10853d67babcf51eae51591</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>frameBodyRegressor_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aeca2a269d59645320b3ce9c1a996fe8f</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const FrameIndex frameId)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>jointBodyRegressor_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aae2d696fd67a6de1f6ef7936b4ca0a0c</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const JointIndex jointId)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-rnea-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-rnea-derivatives_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="bindings_2python_2utils_2eigen_8hpp" name="bindings/python/utils/eigen.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/eigen.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Data::MatrixXs</type>
      <name>computeGeneralizedGravityDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a97d7ee4d3557132e76dda26cb600b431</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>acdb4a64e3773d0ae8cc7598939ea2047</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeRNEADerivatives_fext</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a12973984a50dbe7ec53b9d8f6661eab3</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a, const ForceAlignedVector &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>Data::MatrixXs</type>
      <name>computeStaticTorqueDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5b87442815cb0c520885b989fb011c0f</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const ForceAlignedVector &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRNEADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8fc0213b8900df7984b4c0679e4436fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a60354e1c20198871735c4f9ebc72fc21</anchor>
      <arglist>(Force) ForceAlignedVector</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-rnea.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/</path>
    <filename>expose-rnea_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <includes id="list_8hpp" name="list.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/list.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeRNEA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa0cf259d162f1ee8d267625304d7ddd0</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-rpy.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/math/</path>
    <filename>expose-rpy_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="namespace_8hpp" name="namespace.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/namespace.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeRpy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a68cebf8da7ce06f8e9e0d04d8f736b0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix3d</type>
      <name>rotate</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a466d7beac1c34ea18b403cd5d28beafa</anchor>
      <arglist>(const std::string &amp;axis, const double ang)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-SE3.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>expose-SE3_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2spatial_2se3_8hpp" name="bindings/python/spatial/se3.hpp" local="yes" imported="no">pinocchio/bindings/python/spatial/se3.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <includes id="std-aligned-vector_8hpp" name="std-aligned-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-aligned-vector.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeSE3</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1cc286a42908b2fdba5076a572f49e70</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-skew.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>expose-skew_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeSkew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa7e41b24d034139bd18f95e6267ddd25</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3::Scalar, 3, 3, Vector3::Options &gt;</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a802a81f77464bdaf1702ffeb261f82bc</anchor>
      <arglist>(const Vector3 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3::Scalar, 3, 3, Vector3::Options &gt;</type>
      <name>skewSquare</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5391fa805f81e6ea5444124d073e38f1</anchor>
      <arglist>(const Vector3 &amp;u, const Vector3 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3::Scalar, 3, 1, Matrix3::Options &gt;</type>
      <name>unSkew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a743b1aaca6ac4636e0cc3833a2dde63f</anchor>
      <arglist>(const Matrix3 &amp;mat)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>factor.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>factor_8py</filename>
    <class kind="class">factor::Factor</class>
    <class kind="class">factor::FactorGraph</class>
    <namespace>factor</namespace>
  </compound>
  <compound kind="file">
    <name>fcl-pinocchio-conversions.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>fcl-pinocchio-conversions_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>hpp::fcl::Transform3f</type>
      <name>toFclTransform3f</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab19678d8401342ddcee597cfe7177a1f</anchor>
      <arglist>(const SE3 &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>toPinocchioSE3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad6e89a529f2ec8e5f3dfcdf6437a5ce5</anchor>
      <arglist>(const hpp::fcl::Transform3f &amp;tf)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>fcl.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>fcl_8hpp</filename>
    <class kind="struct">pinocchio::fcl::AABB</class>
    <class kind="struct">pinocchio::CollisionPair</class>
    <class kind="struct">pinocchio::fcl::FakeCollisionGeometry</class>
    <class kind="struct">pinocchio::GeometryObject</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::fcl</namespace>
    <member kind="typedef">
      <type>FakeCollisionGeometry</type>
      <name>CollisionGeometry</name>
      <anchorfile>namespacepinocchio_1_1fcl.html</anchorfile>
      <anchor>adfd6c77093d24e50c530b0b060f9952b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>GeometryType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a34d5b1078bd1b4740091eb00b66cbffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>VISUAL</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a34d5b1078bd1b4740091eb00b66cbffaac80e8703b6e0fbc958f4749c745c375b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>COLLISION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a34d5b1078bd1b4740091eb00b66cbffaa3141855bd81388604dbb2f129b4cabb6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>file-explorer.cpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>file-explorer_8cpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>appendSuffixToPaths</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa0bb6d348a9dad3d777879629f8e4f5d</anchor>
      <arglist>(std::vector&lt; std::string &gt; &amp;list_of_paths, const std::string &amp;suffix)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extractPathFromEnvVar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a89ed484e4247aa8f0aaca24e73feba19</anchor>
      <arglist>(const std::string &amp;env_var_name, std::vector&lt; std::string &gt; &amp;list_of_paths, const std::string &amp;delimiter=&quot;:&quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>extractPathFromEnvVar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abd6d0d73fdd3b87b1bc7dea1054b6b67</anchor>
      <arglist>(const std::string &amp;env_var_name, const std::string &amp;delimiter=&quot;:&quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>rosPaths</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91e1585a6ddffc43343918b5ef347cca</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>file-explorer.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>file-explorer_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>appendSuffixToPaths</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa0bb6d348a9dad3d777879629f8e4f5d</anchor>
      <arglist>(std::vector&lt; std::string &gt; &amp;list_of_paths, const std::string &amp;suffix)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extractPathFromEnvVar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a89ed484e4247aa8f0aaca24e73feba19</anchor>
      <arglist>(const std::string &amp;env_var_name, std::vector&lt; std::string &gt; &amp;list_of_paths, const std::string &amp;delimiter=&quot;:&quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>extractPathFromEnvVar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abd6d0d73fdd3b87b1bc7dea1054b6b67</anchor>
      <arglist>(const std::string &amp;env_var_name, const std::string &amp;delimiter=&quot;:&quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>rosPaths</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91e1585a6ddffc43343918b5ef347cca</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>finite-differences.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>finite-differences_8cpp</filename>
    <class kind="struct">FiniteDiffJoint</class>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>finite-differences_8cpp.html</anchorfile>
      <anchor>aa62f218c8ea7e1b173daa98f1bee232c</anchor>
      <arglist>(test_S_finit_diff)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>finite-differences_8cpp.html</anchorfile>
      <anchor>a25680b483d866c6c36f2b512ebf1967b</anchor>
      <arglist>(test_jacobian_vs_finit_diff)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>filterValue</name>
      <anchorfile>finite-differences_8cpp.html</anchorfile>
      <anchor>a331e711baab684b50e8511ede17ae820</anchor>
      <arglist>(MatrixBase&lt; Matrix &gt; &amp;mat, typename Matrix::Scalar value)</arglist>
    </member>
    <member kind="function">
      <type>Data::Matrix6x</type>
      <name>finiteDiffJacobian</name>
      <anchorfile>finite-differences_8cpp.html</anchorfile>
      <anchor>a8c21843f1f720e39500b820208928393</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Model::JointIndex joint_id)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>foot_steps.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>foot__steps_8py</filename>
    <class kind="class">foot_steps::FootSteps</class>
    <namespace>foot_steps</namespace>
  </compound>
  <compound kind="file">
    <name>force-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>force-base_8hpp</filename>
    <class kind="class">pinocchio::ForceBase</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>force-dense.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>force-dense_8hpp</filename>
    <class kind="class">pinocchio::ForceDense</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ForceDense&lt; Derived &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ForceDense&lt; Derived &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>traits&lt; F1 &gt;::ForcePlain</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adf68571a3bd5d9815bb06759e70d9994</anchor>
      <arglist>(const typename traits&lt; F1 &gt;::Scalar alpha, const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>force-ref.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>force-ref_8hpp</filename>
    <class kind="class">pinocchio::ForceRef</class>
    <class kind="class">pinocchio::ForceRef&lt; const Vector6ArgType &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ForceRef&lt; Vector6ArgType &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>force-set.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>force-set_8hpp</filename>
    <class kind="struct">pinocchio::ForceSetTpl::Block</class>
    <class kind="class">pinocchio::ForceSetTpl</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ForceSet::Block &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>ForceSetTpl&lt; double, 0 &gt;</type>
      <name>ForceSet</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8494f20d30ed695e6def67fd90a8f64a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>force-tpl.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>force-tpl_8hpp</filename>
    <class kind="class">pinocchio::ForceTpl</class>
    <class kind="struct">pinocchio::traits&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/spatial/force.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>bindings_2python_2spatial_2force_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::call</class>
    <class kind="struct">pinocchio::python::call&lt; ForceTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::ForcePythonVisitor</class>
    <class kind="struct">pinocchio::python::ForcePythonVisitor::Pickle</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/force.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2force_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad73eb8e8a6dce488d7dd9f8bdc480399</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ForceTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6a1bda45fa057606aabc63d1ee520640</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::ForceTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>af83f75460cd1383ee208659df66932b4</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ForceTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/spatial/force.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>src_2spatial_2force_8hpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>FORCE_TYPEDEF</name>
      <anchorfile>src_2spatial_2force_8hpp.html</anchorfile>
      <anchor>aec62722a78a57342c112c6ffe69c43b1</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>FORCE_TYPEDEF_GENERIC</name>
      <anchorfile>src_2spatial_2force_8hpp.html</anchorfile>
      <anchor>ad3deb680fd7a0881be49c001f7a06de0</anchor>
      <arglist>(Derived, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>src_2spatial_2force_8hpp.html</anchorfile>
      <anchor>a1f9d55065d349c0fd5c88c59cef3c6ec</anchor>
      <arglist>(Derived)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>forward-dynamics-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>forward-dynamics-derivatives_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>forward-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>forward-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>forward-dynamics-derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>forward-dynamics-derivatives_8py</filename>
    <namespace>forward-dynamics-derivatives</namespace>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>ac2290478b3638683ce658660046e8478</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq_dq</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>ae940b2a03d87eea8f92931b1ac6bb9b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq_dtau</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a1f31e9e024898db4dfdf611be4af18e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq_dv</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>ac40a6bd43d5ed2c307cc6b682c06ece7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lowerPositionLimit</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>afdbab5d23753824a0a1c1d0d39e528d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a0c15542034213c698e2a8c27417803a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a2070facbc9496b50eb4c38b3b638b48b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a9e58f90f9152b13f79ffab55fc513d5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>upperPositionLimit</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a6bc80c58075587d3991192fd1b2a6b9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a79b3714b0efa2ecadada38a97dbfe00d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/multibody/frame.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>bindings_2python_2multibody_2frame_8hpp</filename>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::FramePythonVisitor</class>
    <class kind="struct">pinocchio::python::FramePythonVisitor::Pickle</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/multibody/frame.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>src_2multibody_2frame_8hpp</filename>
    <class kind="struct">pinocchio::FrameTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="enumeration">
      <type></type>
      <name>FrameType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>OP_FRAME</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936ad47b7609fa6d6e3521e76bb7227c4623</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>JOINT</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936a7802d353d5075d653a2500eca53de7e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FIXED_JOINT</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936aa641ccb1e089c78a1d70a61bb10d79c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>BODY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936ac3c2a2ac633d876202b0ef0216122e07</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>SENSOR</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936ad25ffb70590948ff315051f49a919008</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5294d8714ab705fe639d9f3d1ea37570</anchor>
      <arglist>(std::ostream &amp;os, const FrameTpl&lt; Scalar, Options &gt; &amp;f)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/serialization/frame.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2frame_8hpp</filename>
    <class kind="struct">boost::serialization::version&lt; pinocchio::FrameTpl&lt; Scalar, Options &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ac3c297a5311373fe1564f8c31da1d2b2</anchor>
      <arglist>(Archive &amp;ar, pinocchio::FrameTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>frames-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>frames-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames-derivatives_8cpp.html</anchorfile>
      <anchor>a65339223a9766e4720afbfef99feee8d</anchor>
      <arglist>(test_frames_derivatives_velocity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames-derivatives_8cpp.html</anchorfile>
      <anchor>ae4ad00fdf55f694eeb0402c25a4b22b3</anchor>
      <arglist>(test_kinematics_derivatives_acceleration)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>frames-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>frames-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>getFrameAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a41670156138a7a32616d2f56e9e8ab19</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0d05b1c07362deab78a8855467b354ef</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut5 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameVelocityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aaed126862711655777784da0f0cc4b6b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>frames.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>frames_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>afbc18f3674d227492a947f4a9b90e47e</anchor>
      <arglist>(frame_basic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a786be6ac48d63877e768c68f326114f4</anchor>
      <arglist>(cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a91e44f3e7538a9ba6108426e19e22f9b</anchor>
      <arglist>(test_kinematics)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a4a6866523fa4d5caa72183c8c9d41cc2</anchor>
      <arglist>(test_update_placements)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>afcf869c032b4dd7286b40de54aa66874</anchor>
      <arglist>(test_update_single_placement)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>aa9acbc8de0a09a6dafb860ae1be7b479</anchor>
      <arglist>(test_velocity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a17ec3eb5f9dca6e6277d11e71c9eeae1</anchor>
      <arglist>(test_acceleration)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a85706f3993805e39ece7e24af22603ce</anchor>
      <arglist>(test_classic_acceleration)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>ad1492162d4ab20317cc700247332b395</anchor>
      <arglist>(test_frame_getters)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>af7b052ea75eb38871c8181d2470ef1b9</anchor>
      <arglist>(test_get_frame_jacobian)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a0cc37b22c38c7998bb8cc6f8b6bd8028</anchor>
      <arglist>(test_frame_jacobian)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a8e2d0b993b23bdb64c8ddbad8d5bc492</anchor>
      <arglist>(test_frame_jacobian_local_world_oriented)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a8acbc771bb59b32d510840bd2f2a3c13</anchor>
      <arglist>(test_frame_jacobian_time_variation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>a9685a7b90bb3e43fb03c5a1d956f7d52</anchor>
      <arglist>(test_supported_inertia_and_force)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isFinite</name>
      <anchorfile>frames_8cpp.html</anchorfile>
      <anchor>aff920be3a06be8915477a69492b5c4c4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>frames.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>frames_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeFrameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7b1189aea93a252f4c06d9a7e3c9f5e7</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeFrameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab3cc591c2c1cab9e78354c4191ad18b3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const FrameIndex frameId, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>computeSupportedForceByFrame</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acc4a0104a5fe3c0ecf87ad548a5d5206</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>computeSupportedInertiaByFrame</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aaee9e756dc3a2c937cef59f11002e210</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, bool with_subtree)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>frameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aef7cdada2a31f19561af479c4c282f8a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const FrameIndex frameId, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>framesForwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a89903169c76d3c55bacaa2479bd39f76</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>framesForwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa5a6abb67e63b51f1897d97b2521c40a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getFrameAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad37033439652cb4db09171983de2173c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getFrameClassicalAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac422b8292f73949342174bd272345a83</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5aa19d265b05aaa782bb24ae4d8894f0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameJacobianTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa7e966e59c38965867107fc2dc53d853</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;dJ)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getFrameVelocity</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aeff1f1c50eaa6a706ac2271a4d70a2cd</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::SE3 &amp;</type>
      <name>updateFramePlacement</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab48760c9b4ad957cd95d6d3392b2c1e2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateFramePlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a48c4aeb9f48c48a5965f44a3e18c82b2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>fusion.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>fusion_8cpp</filename>
    <class kind="struct">CRTPBase</class>
    <class kind="struct">CRTPDerived</class>
    <class kind="struct">CRTPDerived2</class>
    <class kind="struct">Launcher</class>
    <class kind="struct">TestObj</class>
    <namespace>boost</namespace>
    <namespace>boost::fusion</namespace>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_FUSION_INVOKE_MAX_ARITY</name>
      <anchorfile>fusion_8cpp.html</anchorfile>
      <anchor>a84593eeb093702aa28cf1013e8557d30</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variant&lt; CRTPDerived, CRTPDerived2 &gt;</type>
      <name>CRTPVariant</name>
      <anchorfile>fusion_8cpp.html</anchorfile>
      <anchor>a9b5be0d88b1b932367bad3d272257a9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; V const, T &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a0441a16f6f3931af114c510e31d78c91</anchor>
      <arglist>(T const &amp;t, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; V const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append2</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a3e1e06e29ce65382c6358aac250e9d89</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>fusion_8cpp.html</anchorfile>
      <anchor>a4755462d8519269296b84396305baf88</anchor>
      <arglist>(test_fusion)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>fusion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/visitor/</path>
    <filename>fusion_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::fusion</namespace>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_FUSION_INVOKE_MAX_ARITY</name>
      <anchorfile>fusion_8hpp.html</anchorfile>
      <anchor>a84593eeb093702aa28cf1013e8557d30</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; V const, T &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a0441a16f6f3931af114c510e31d78c91</anchor>
      <arglist>(T const &amp;t, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; V const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a2fc1bd1db243354bc6eebbac3bab1bf9</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; V const, T3 &gt;::type const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a8e2ab39f9c756010ae740c2abbdc8c4f</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, T3 const &amp;t3, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; V const, T4 &gt;::type const, T3 &gt;::type const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a521469681aad2666102b2ad9898e1e04</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, T3 const &amp;t3, T4 const &amp;t4, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; V const, T5 &gt;::type const, T4 &gt;::type const, T3 &gt;::type const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>ac49bda9310ee0104f7611fdca5061ce0</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, T3 const &amp;t3, T4 const &amp;t4, T5 const &amp;t5, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED result_of::push_front&lt; typename result_of::push_front&lt; V const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append2</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>aa220c32ade3bb4e64710c78570fe1690</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, V const &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/</path>
    <filename>bindings_2python_2fwd_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_SHARED_PTR_HOLDER_TYPE</name>
      <anchorfile>bindings_2python_2fwd_8hpp.html</anchorfile>
      <anchor>ad97d1330e7f46a359aaa8811450b4474</anchor>
      <arglist>(T)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeAlgorithms</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1d1bf53d64e008476f02627d111f41e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeData</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a94a2a779f541270df337f999af456065</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeExplog</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abc465037c2b007984587e86baca53bf7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeForce</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab5b4952ff04ab6077048edf4803243ad</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFrame</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a0534105ac78dc4babade401cafd0a77e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1b2b468d39cceb64921664ad4967a9b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeInertia</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab2dec7d2988a32e8c94706f19024544</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJoints</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2b9593d8d5e44cd892c3b7ff99e87bb8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeLieGroups</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa635f53b6af298098fe6deb9e2fd99bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a37a8c8e958a8034593d58d3c3c8d14e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeMotion</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a48e12695bbbfe77ac2863ade153c8815</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParsers</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a76f39d86ca439a1ba87ea9597603b612</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRpy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a68cebf8da7ce06f8e9e0d04d8f736b0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSE3</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1cc286a42908b2fdba5076a572f49e70</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSkew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa7e41b24d034139bd18f95e6267ddd25</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/</path>
    <filename>src_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::CastType</class>
    <class kind="struct">pinocchio::internal::traits</class>
    <class kind="struct">pinocchio::traits</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
    <member kind="enumeration">
      <type></type>
      <name>ArgumentPosition</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG0</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a55f1ffe9b704b5d3e90395d7a8fb2585</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG1</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388ad83ecfc28bcaf36f531ba853fc098ba8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG2</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a0e131052e33ebed9b9699ac3a22dc13c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a27d7912e236ec0a092445d0db2e47d1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG4</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a5e8da419e326e44bc19e227b21e5db1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>AssignmentOperatorType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>SETTO</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27a7d41c72a945e11d5f7cc8decf6267c47</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ADDTO</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27ac0fa3d44bac23073b18667f673c8e93d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RMTO</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27a586c761d9abd510fe706483f76d87651</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/math/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>src_2math_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::is_floating_point</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::math</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR</name>
      <anchorfile>src_2math_2fwd_8hpp.html</anchorfile>
      <anchor>a524307da2e3791187f81e226b8c3126b</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR</name>
      <anchorfile>src_2math_2fwd_8hpp.html</anchorfile>
      <anchor>a85bdaec819b0590de07a0723c22ac5f4</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="function">
      <type>const Scalar</type>
      <name>PI</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8d70a2059ad808b77877e920e9b181bc</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/multibody/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>src_2multibody_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::AlgorithmCheckerBase</class>
    <class kind="struct">pinocchio::DataTpl</class>
    <class kind="struct">pinocchio::FrameTpl</class>
    <class kind="struct">pinocchio::ModelTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>DataTpl&lt; double &gt;</type>
      <name>Data</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga582ff674471e566198472e36ac306dfa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; double &gt;</type>
      <name>Frame</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga06c859e5157655f8e3bb2617fb4a9ce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>FrameIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab985d3dad133f1ad0237833e0633aefe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>GeomIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab1ddedd6a73a00bc98bbeb23ccf06aab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::size_t</type>
      <name>Index</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga8d8174a1497501b9660bd470ba4d4ff6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>JointIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga93f5a27397872ef67f35c7b0cf10654e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; double &gt;</type>
      <name>Model</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga373abc21697d4b1e0b32e406fb058779</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>PairIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga634b9d244e922bc4b0de310c825bf7ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>KinematicLevel</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga647259697b4b404a10b294ad824b8759</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>POSITION</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a905ebd5c93606256af94de0222dee91e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>VELOCITY</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a63908d173505e34f3914d89d475c26b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ACCELERATION</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a4d1d688f17a4435e24f733301470bf81</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>ReferenceFrame</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab91d26fac715585408fa359aaf30f82f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>WORLD</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82fa23987aa2990d0b5f3602b6e8b44f0379</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LOCAL</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82faface824360eb6431bd8b958c8ab11c01</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LOCAL_WORLD_ALIGNED</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82fa95597e292ac88f125097b657013e83f4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/multibody/joint/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>src_2multibody_2joint_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::JointCollectionDefaultTpl</class>
    <class kind="struct">pinocchio::JointDataCompositeTpl</class>
    <class kind="struct">pinocchio::JointDataFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointDataPlanarTpl</class>
    <class kind="struct">pinocchio::JointDataPrismaticTpl</class>
    <class kind="struct">pinocchio::JointDataPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataSphericalTpl</class>
    <class kind="struct">pinocchio::JointDataSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointDataTpl</class>
    <class kind="struct">pinocchio::JointDataTranslationTpl</class>
    <class kind="struct">pinocchio::JointDataVoid</class>
    <class kind="struct">pinocchio::JointModelCompositeTpl</class>
    <class kind="struct">pinocchio::JointModelFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointModelPlanarTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointModelTpl</class>
    <class kind="struct">pinocchio::JointModelTranslationTpl</class>
    <class kind="struct">pinocchio::JointModelVoid</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>JointCollectionDefaultTpl&lt; double &gt;</type>
      <name>JointCollectionDefault</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga022f6caf3cd04921033f3cc796d35e52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; double &gt;</type>
      <name>JointData</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga63ed7efc33f4dbae1e5e11fdafcaf813</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataCompositeTpl&lt; double &gt;</type>
      <name>JointDataComposite</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac9d92809b923a21f63e5017ab198fbfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataFreeFlyerTpl&lt; double &gt;</type>
      <name>JointDataFreeFlyer</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga7bfbafeed8bad88b1ce3bb79217979df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPlanarTpl&lt; double &gt;</type>
      <name>JointDataPlanar</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga69291922e33f6355b900bbc4724b830f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>JointDataPrismaticUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga042b7624682dc160ec337742e4ec7d00</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>JointDataRevoluteUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gab0696c98b2c466f07c83d9eddc4d08a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedUnalignedTpl&lt; double &gt;</type>
      <name>JointDataRevoluteUnboundedUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gae676b8cb8a3da092492351cc16b22fe6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalTpl&lt; double &gt;</type>
      <name>JointDataSpherical</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga832a81b84142481ceb36dc8e0ec76738</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalZYXTpl&lt; double &gt;</type>
      <name>JointDataSphericalZYX</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga9da7c448fdaca39b8da7431c8bd05c41</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTranslationTpl&lt; double &gt;</type>
      <name>JointDataTranslation</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga044b0df225194ea88fde5839b5646199</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; double &gt;</type>
      <name>JointModel</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gab5d34140fd139d4d628cae706a859693</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelCompositeTpl&lt; double &gt;</type>
      <name>JointModelComposite</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gae53cef5b5200dddcea5ad3e5c4604119</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelFreeFlyerTpl&lt; double &gt;</type>
      <name>JointModelFreeFlyer</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga480d46e43a3a4a435a7a82a7ab663d38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPlanarTpl&lt; double &gt;</type>
      <name>JointModelPlanar</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gaab36d0cd79fcc59eb18f6790b8dba233</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>JointModelPrismaticUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga4d9110642b9ca89c038b6a25bb2e692f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>JointModelRevoluteUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac5123b2c4b01951d93edaef4c1dcab4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedUnalignedTpl&lt; double &gt;</type>
      <name>JointModelRevoluteUnboundedUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gaf25cda0fbb70012891b819326cedc493</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalTpl&lt; double &gt;</type>
      <name>JointModelSpherical</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga045a3bb456c5f2495952c873147afedd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalZYXTpl&lt; double &gt;</type>
      <name>JointModelSphericalZYX</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac25e645e6f2719d547fc92484ac989dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTranslationTpl&lt; double &gt;</type>
      <name>JointModelTranslation</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga781fd63303a7aed972b44f8a73b2d3f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MAX_JOINT_NV</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>add7ec2fdabf6ed149e81de797e2b25a3a9075d61dc340758af2ac86d7cd632284</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/multibody/liegroup/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>src_2multibody_2liegroup_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::LieGroupGenericTpl</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::Serialize</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_SERIALIZATION_MAKE_NVP</name>
      <anchorfile>src_2serialization_2fwd_8hpp.html</anchorfile>
      <anchor>a2341b7237b74a4a491f72a426b0ee177</anchor>
      <arglist>(member)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/spatial/fwd.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>src_2spatial_2fwd_8hpp</filename>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method</class>
    <class kind="class">pinocchio::ForceBase</class>
    <class kind="class">pinocchio::ForceDense</class>
    <class kind="class">pinocchio::ForceRef</class>
    <class kind="class">pinocchio::ForceTpl</class>
    <class kind="class">pinocchio::InertiaTpl</class>
    <class kind="struct">pinocchio::internal::LHSScalarMultiplication</class>
    <class kind="class">pinocchio::MotionBase</class>
    <class kind="class">pinocchio::MotionDense</class>
    <class kind="class">pinocchio::MotionRef</class>
    <class kind="class">pinocchio::MotionTpl</class>
    <class kind="struct">pinocchio::MotionZeroTpl</class>
    <class kind="struct">pinocchio::internal::RHSScalarMultiplication</class>
    <class kind="struct">pinocchio::SE3Tpl</class>
    <class kind="class">pinocchio::Symmetric3Tpl</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
    <member kind="define">
      <type>#define</type>
      <name>SPATIAL_TYPEDEF_NO_TEMPLATE</name>
      <anchorfile>src_2spatial_2fwd_8hpp.html</anchorfile>
      <anchor>a7bf532f5c388cca80c3d6b9cd186c8fe</anchor>
      <arglist>(derived)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SPATIAL_TYPEDEF_TEMPLATE</name>
      <anchorfile>src_2spatial_2fwd_8hpp.html</anchorfile>
      <anchor>a4b1c4df5c555a69d9cf47085127d5fd1</anchor>
      <arglist>(derived)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SPATIAL_TYPEDEF_TEMPLATE_GENERIC</name>
      <anchorfile>src_2spatial_2fwd_8hpp.html</anchorfile>
      <anchor>a9f41fe332ea080fb42e34125a962d6fc</anchor>
      <arglist>(derived, TYPENAME)</arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; double, 0 &gt;</type>
      <name>Force</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga6f1f4464b05f1a2bb607804691f1ad91</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; double, 0 &gt;</type>
      <name>Inertia</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga7174f964f5eb95b8781a02c348e554ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; double, 0 &gt;</type>
      <name>Motion</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga57d1c4a68c7b5f2e5d94bdd1601a9339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; double, 0 &gt;</type>
      <name>MotionZero</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga12708018b8073f231d9df109a57e2360</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; double, 0 &gt;</type>
      <name>SE3</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gae0cfc18b44c8cf48d634c965ddfd1220</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Symmetric3Tpl&lt; double, 0 &gt;</type>
      <name>Symmetric3</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga041c72c93145de80da9f47d170811c1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef BiasZeroTpl&lt; double, 0 &gt;</type>
      <name>BiasZero</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gaffe2f7443118675540acc272ebf08fee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>struct PINOCCHIO_DEPRECATED</type>
      <name>BiasZeroTpl</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gae2eb84afe831880c9b2336a8e20197c0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>geom.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>geom_8cpp</filename>
    <member kind="typedef">
      <type>std::map&lt; std::string, pinocchio::SE3 &gt;</type>
      <name>GeometryPositionsMap_t</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>ae1853b6e69a19fb058961f4300c13a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::map&lt; std::string, pinocchio::SE3 &gt;</type>
      <name>JointPositionsMap_t</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>aeac0aac277608846dffeb3f1c6a2feaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::map&lt; std::pair&lt; std::string, std::string &gt;, fcl::DistanceResult &gt;</type>
      <name>PairDistanceMap_t</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a89ee5a1ae598027b5af1c96f14b1a658</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::map&lt; std::string, pinocchio::SE3 &gt;</type>
      <name>PositionsMap_t</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>adfa4ad02d807284d24fed89d01013153</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>ac326dbff9b0375f67dc0baf2cb946669</anchor>
      <arglist>(simple_boxes)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>ab4d498f482b66d4e9e7ef3eb7ca9f327</anchor>
      <arglist>(loading_model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a921807eda95869ee0b59f1a43b21dd00</anchor>
      <arglist>(manage_collision_pairs)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a45011c32516d1fc4055b05d527ae8068</anchor>
      <arglist>(test_collisions)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>adf00cb6344408d678d8b620c8b7b50db</anchor>
      <arglist>(test_distances)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a3ce32223d6ee4b8ff304af12cb5a70f1</anchor>
      <arglist>(test_append_geom_models)</arglist>
    </member>
    <member kind="function">
      <type>GeometryPositionsMap_t</type>
      <name>fillPinocchioGeometryPositions</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a1fd4321c8984294b93bf2fb89f594288</anchor>
      <arglist>(const pinocchio::GeometryModel &amp;geomModel, const pinocchio::GeometryData &amp;geomData)</arglist>
    </member>
    <member kind="function">
      <type>JointPositionsMap_t</type>
      <name>fillPinocchioJointPositions</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a6f57e0184adb2290cf116c9d96cb7a10</anchor>
      <arglist>(const pinocchio::Model &amp;model, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getBodiesList</name>
      <anchorfile>geom_8cpp.html</anchorfile>
      <anchor>a33afd9cf0ba0a2d2b62ea4acf2419d48</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>geometry-data.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>geometry-data_8hpp</filename>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="bindings_2python_2utils_2deprecation_8hpp" name="bindings/python/utils/deprecation.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/deprecation.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <includes id="bindings_2python_2serialization_2serializable_8hpp" name="bindings/python/serialization/serializable.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serializable.hpp</includes>
    <class kind="struct">pinocchio::python::CollisionPairPythonVisitor</class>
    <class kind="struct">pinocchio::python::GeometryDataPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>geometry-model.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>geometry-model_8hpp</filename>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <class kind="struct">pinocchio::python::GeometryModelPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>geometry-models.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>geometry-models_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>geometry-models_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>geometry-models_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>geometry-models.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>geometry-models_8py</filename>
    <namespace>geometry-models</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_data</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a3eea5274f5f3f29da4f77620007d6dc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a0c8cb0ddb7984cae293bdb3c5eff6ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a8d139834ed27983ebc6fdd5f48830164</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a095423623afb065d8b9e2712a9ec2fae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a71a75e4ea5c93b61980a5d11f4a15c57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>model_path</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>af67c44518120146464a2cb5cb3c54dfd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>afc1f49efb7b969d2ef2be984ad7f4087</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a9d42eed7e6eaa09e2de476716cfca3f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a387bd071911fa186d68b9b977cd8e1ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_data</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a9e471924729fd588a2e268898129af6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a7f7fbc379b0fbd67e0fb8c0b5b649678</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>geometry-object.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>geometry-object_8hpp</filename>
    <class kind="struct">pinocchio::python::GeometryObjectPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/algorithm/parallel/geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/parallel/</path>
    <filename>bindings_2python_2algorithm_2parallel_2geometry_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; bool, Eigen::Dynamic, 1 &gt;</type>
      <name>VectorXb</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1838c7d7dc53b4029bc0b067bc8a5e17</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>computeCollisions_full_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7aa0215974b81a7c03bc8a5eb819cdec</anchor>
      <arglist>(const int num_threads, const Model &amp;model, Data &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const Eigen::VectorXd &amp;q, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static VectorXb</type>
      <name>computeCollisions_pool_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9a037f9c81a338829d7a92dad53289e6</anchor>
      <arglist>(const int num_thread, GeometryPool &amp;pool, const Eigen::MatrixXd &amp;q, bool stop_at_first_collision=false)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeCollisions_pool_proxy_res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af35a33e6edaea5336e46cacfaefdef88</anchor>
      <arglist>(const int num_thread, GeometryPool &amp;pool, const Eigen::MatrixXd &amp;q, Eigen::Ref&lt; VectorXb &gt; res, bool stop_at_first_collision=false)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>computeCollisions_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9eee32f454adbbc27692bf9b2d50856c</anchor>
      <arglist>(const int num_threads, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1bea07c4d8dae6daf0fd1e763af599a1</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/urdf/geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/urdf/</path>
    <filename>bindings_2python_2parsers_2urdf_2geometry_8cpp</filename>
    <includes id="bindings_2python_2parsers_2urdf_8hpp" name="bindings/python/parsers/urdf.hpp" local="yes" imported="no">pinocchio/bindings/python/parsers/urdf.hpp</includes>
    <includes id="list_8hpp" name="list.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/list.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a90d5ef8c6c41b7281042b1b405a7fe72</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/parsers/urdf/geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/urdf/</path>
    <filename>src_2parsers_2urdf_2geometry_8cpp</filename>
    <class kind="struct">pinocchio::urdf::details::UrdfTree</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::urdf</namespace>
    <namespace>pinocchio::urdf::details</namespace>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addLinkGeometryToGeomModel</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa9857d2b8e4fdc166b8ed26cebea4970</anchor>
      <arglist>(const UrdfTree &amp;tree, ::hpp::fcl::MeshLoaderPtr &amp;meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &amp;visitor, GeometryModel &amp;geomModel, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_URDF_SHARED_PTR(const T) getLinkGeometry(const inline ::urdf::CollisionConstSharedPtr</type>
      <name>getLinkGeometry&lt; ::urdf::Collision &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a0a00d0ac01781e5708633117efabe326</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>inline ::urdf::VisualConstSharedPtr</type>
      <name>getLinkGeometry&lt; ::urdf::Visual &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a9588c834261356615a10f3286467aa13</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; PINOCCHIO_URDF_SHARED_PTR(T) &gt; &amp;</type>
      <name>getLinkGeometryArray</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a321b841a755aebaf4dbb35013e9f6c06</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; ::urdf::CollisionSharedPtr &gt; &amp;</type>
      <name>getLinkGeometryArray&lt; ::urdf::Collision &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a9ff1ae017461c482a5945b9bfaf60f02</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; ::urdf::VisualSharedPtr &gt; &amp;</type>
      <name>getLinkGeometryArray&lt; ::urdf::Visual &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a3f3c41648bbbb4f5b07cfa0a0eb94e6f</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getVisualMaterial</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a946e8d6a46570e7f6b6ff69c50eb6061</anchor>
      <arglist>(const PINOCCHIO_URDF_SHARED_PTR(urdfObject) urdf_object, std::string &amp;meshTexturePath, Eigen::Vector4d &amp;meshColor, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getVisualMaterial&lt; ::urdf::Collision &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a6ec9290f52db5cb40f272080f4994b54</anchor>
      <arglist>(const ::urdf::CollisionSharedPtr, std::string &amp;meshTexturePath, Eigen::Vector4d &amp;meshColor, const std::vector&lt; std::string &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getVisualMaterial&lt; ::urdf::Visual &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa9130f27e77d2ea94387190964d5cc9e</anchor>
      <arglist>(const ::urdf::VisualSharedPtr urdf_visual, std::string &amp;meshTexturePath, Eigen::Vector4d &amp;meshColor, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseTreeForGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a8157c90ad1bf24efd1adbc0956276c0e</anchor>
      <arglist>(UrdfGeomVisitorBase &amp;visitor, const std::istream &amp;xmlStream, const GeometryType type, GeometryModel &amp;geomModel, const std::vector&lt; std::string &gt; &amp;package_dirs, ::hpp::fcl::MeshLoaderPtr meshLoader)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recursiveParseTreeForGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a674124fa9129425b3fbf0ecc563edf55</anchor>
      <arglist>(const UrdfTree &amp;tree, ::hpp::fcl::MeshLoaderPtr &amp;meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &amp;visitor, GeometryModel &amp;geomModel, const std::vector&lt; std::string &gt; &amp;package_dirs, const GeometryType type)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>retrieveMeshScale</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a68a626f657d377f90000fb31ea9ae406</anchor>
      <arglist>(const ::urdf::MeshSharedPtr &amp;mesh, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;scale)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/multibody/pool/geometry.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/pool/</path>
    <filename>bindings_2python_2multibody_2pool_2geometry_8hpp</filename>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <class kind="struct">pinocchio::python::GeometryPoolPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/algorithm/geometry.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>src_2algorithm_2geometry_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>appendGeometryModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af8708529b11a8d4645cc6116430b9549</anchor>
      <arglist>(GeometryModel &amp;geom_model1, const GeometryModel &amp;geom_model2)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>setGeometryMeshScales</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a20250c4ae321d8d64676b146af8b2a8b</anchor>
      <arglist>(GeometryModel &amp;geom_model, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;meshScale)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>setGeometryMeshScales</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a457b6a50c2aea67519b40ec87bec8594</anchor>
      <arglist>(GeometryModel &amp;geom_model, const double meshScale)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGeometryPlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a765cd5ab48f2846d543f2f7aa2290e0a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGeometryPlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f9e45eaafb2d0d35dbb5ed522acfb9a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/algorithm/parallel/geometry.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/parallel/</path>
    <filename>src_2algorithm_2parallel_2geometry_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>bool</type>
      <name>computeCollisions</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abe5ac3d1d8bffc6c09f18661cd148f4b</anchor>
      <arglist>(const int num_threads, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeCollisions</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae3db163c55df5aa3e13b9efe404bfa81</anchor>
      <arglist>(const int num_threads, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeCollisions</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad7c8816f3d305b2efbe3c3c10707c507</anchor>
      <arglist>(const int num_threads, GeometryPoolTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;pool, const Eigen::MatrixBase&lt; ConfigVectorPool &gt; &amp;q, const Eigen::MatrixBase&lt; CollisionVectorResult &gt; &amp;res, const bool stopAtFirstCollision=false)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/multibody/geometry.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>src_2multibody_2geometry_8hpp</filename>
    <class kind="struct">pinocchio::GeometryData</class>
    <class kind="struct">pinocchio::GeometryModel</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>src/multibody/pool/geometry.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/pool/</path>
    <filename>src_2multibody_2pool_2geometry_8hpp</filename>
    <class kind="class">pinocchio::GeometryPoolTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>GeometryPoolTpl&lt; double, 0, JointCollectionDefaultTpl &gt;</type>
      <name>GeometryPool</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1573ed6c49e6df4accfa81030d8534d2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/serialization/geometry.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2geometry_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>af9a9382ae1ec2243eac58b10862d3609</anchor>
      <arglist>(Archive &amp;ar, pinocchio::CollisionPair &amp;collision_pair, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>acd2faab80d87c2d48587471a1cca2aa4</anchor>
      <arglist>(Archive &amp;ar, pinocchio::GeometryData &amp;geom_data, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>gepetto-viewer.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>gepetto-viewer_8py</filename>
    <namespace>gepetto-viewer</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>afb583bda5624aa98b19deca60b4b1e54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>af567af3775a81f9db1403fdca4bafb9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a2869923b33188020e6c8ee4dd2efb4f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a423bcbb1755bb16dee6e89b2c0dd78fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a8745650fc75b3f93b25e94281b26248d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a368fc38d19aa81a8a384ab1e03c3d98a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a88e388dcfa85d8381e653181a3e240cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a59867aab9213dd2b35c5040209b330a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a0621b70be6f479e024233518bca4e854</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a7097c9c692a13554b64997be7b7f87a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>acb54008b61946bc549a58da0d15314bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a01dc12345f347d9826d0c289d75658ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz2</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>ad55ffb6aa9281e1018ca2d4dec511413</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>gepetto_visualizer.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/visualize/</path>
    <filename>gepetto__visualizer_8py</filename>
    <class kind="class">pinocchio::visualize::gepetto_visualizer::GepettoVisualizer</class>
    <namespace>pinocchio::visualize::gepetto_visualizer</namespace>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1gepetto__visualizer.html</anchorfile>
      <anchor>aeb5f39a461bec508e04230b0f4550414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1gepetto__visualizer.html</anchorfile>
      <anchor>a6d6b2a5aaaab49291092a1b927bf3356</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/git-archive-all.py</name>
    <path>/tmp/ws/src/pinocchio/cmake/</path>
    <filename>cmake_2git-archive-all_8py</filename>
    <namespace>git-archive-all</namespace>
    <member kind="variable" protection="private">
      <type>string</type>
      <name>__version__</name>
      <anchorfile>namespacegit-archive-all.html</anchorfile>
      <anchor>adffa1c135f4c9da96a0d96e9f0a7a578</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/git-archive-all.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/</path>
    <filename>models_2example-robot-data_2cmake_2git-archive-all_8py</filename>
    <namespace>git-archive-all</namespace>
  </compound>
  <compound kind="file">
    <name>graph.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>graph_8py</filename>
    <class kind="class">graph::Graph</class>
    <namespace>graph</namespace>
  </compound>
  <compound kind="file">
    <name>helpers.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>helpers_8hpp</filename>
    <class kind="struct">pinocchio::internal::is_same_type</class>
    <class kind="struct">pinocchio::internal::is_same_type&lt; T, T &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/spatial/inertia.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>bindings_2python_2spatial_2inertia_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::call</class>
    <class kind="struct">pinocchio::python::call&lt; InertiaTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::InertiaPythonVisitor</class>
    <class kind="struct">pinocchio::python::InertiaPythonVisitor::Pickle</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/inertia.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2inertia_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aee640763e596b938426a9e20e92d77f8</anchor>
      <arglist>(Archive &amp;ar, pinocchio::InertiaTpl&lt; Scalar, Options &gt; &amp;I, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab37212af526b37e3e13a6399764fb3d9</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::InertiaTpl&lt; Scalar, Options &gt; &amp;I, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad84f5048c4ce026a18d4315a22bc1eff</anchor>
      <arglist>(Archive &amp;ar, pinocchio::InertiaTpl&lt; Scalar, Options &gt; &amp;I, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/spatial/inertia.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>src_2spatial_2inertia_8hpp</filename>
    <class kind="class">pinocchio::InertiaBase</class>
    <class kind="class">pinocchio::InertiaTpl</class>
    <class kind="struct">pinocchio::traits&lt; InertiaTpl&lt; T, U &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>interpolation-SE3.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>interpolation-SE3_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>interpolation-SE3_8cpp.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse-dynamics-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>inverse-dynamics-derivatives_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>inverse-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>inverse-dynamics-derivatives_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse-dynamics-derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>inverse-dynamics-derivatives_8py</filename>
    <namespace>inverse-dynamics-derivatives</namespace>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>ad83b94c20ea214d43b73beac32af1ca4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a6895bbc80e275d5ff7dd3bdccf033580</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dtau_da</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>ac930ae599b0f0a8bd283451c3ebf7b0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dtau_dq</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a98dbdc45e2b2c7bb1972f353894329d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dtau_dv</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>ab7033117287e1566231c7aa9adec6f66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lowerPositionLimit</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a2823bc506e33ad56aec0e79bf29d9f6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a903610eb3c2e78c90b2fd62bd4044477</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a6127bac6211bf377769de2796fda904f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>upperPositionLimit</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a4568436a5d3cbd7dfa44060c61f2226d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a47060e7b57ca9d5c77f7e1696d7b36c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse-kinematics.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>inverse-kinematics_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>inverse-kinematics_8cpp.html</anchorfile>
      <anchor>a2c3f6775325c30275d11c6abee2db6a0</anchor>
      <arglist>(int, char **)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse-kinematics.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>inverse-kinematics_8py</filename>
    <namespace>inverse-kinematics</namespace>
    <member kind="variable">
      <type>int</type>
      <name>damp</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>ab6293f114ac2a594c065b3e9ac734c23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a0552e87ad693ddd553b88af7f505b48e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DT</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>aa4ee9d6603659222590c2a70215c1e9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>eps</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>acffb4f1223dc7f08bc7b91ecb7ab1297</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>err</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a16d689e8c268942197ea83658883c47c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>i</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>addf98c3a93c8d858c974d1ec73d25b6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>iMd</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a4bae516c9b620a4b8eb6ffaa5b1d2605</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>IT_MAX</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a49add34ab22b5036d4bfb25324594826</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>aba2d96ba9b39ff61dee37fa3de1230c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>JOINT_ID</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>ad661f7dbc854d0a8f711dc7b1009829d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a2fe10bfa1d3eee12a0bd2643e54af595</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>oMdes</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a3793badfbc6690ac472be4fff86facae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a6d32daa4a278b51b6367b3f2bdf9742e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>success</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a08796bad50354990ca8892e5ab0512f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a5b6411bd96053f6851b41768d1f36551</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>jacobian.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>jacobian_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeJointJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af1948cb50a9211fd338feb2a3d42d661</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const JointIndex jointId, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeJointJacobians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa94eb0eb9e51486f618e49617a724d9f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeJointJacobians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a020188c32122c35fa5f08b0b92a22d6d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeJointJacobiansTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3684c6d8fb1a0601ed6e16af89ca6a5f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abadfcd21d13fa17865a189e4b47acca9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointJacobianTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a50c89f26935985f6fc9c96908bb855d0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;dJ)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>jointJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac15fc1cfc7661245f61b3f2632fbcc2d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const JointIndex jointId, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;J)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-base_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>joint-basic-visitors.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-basic-visitors_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>bias</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acac31723e196ccf4814db0e3c1a68598</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9868f32113862bda0c539eb5256ceed4</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_first_order</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5cb87132f96527e3e3b29c45c1f1700c</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_zero_order</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9b71f4f705d538260a8744042859e63c</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;::type</type>
      <name>cast_joint</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4c840eac08ce796d40c2dc8cec34c291</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTpl&lt; Eigen::Dynamic, Scalar, Options &gt;</type>
      <name>constraint_xd</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6d0eb68a7e6602fc12cfe0e9096c4a76</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>createData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1974ab87499a774521fd59eaea94bff6</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>dinv_inertia</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab8bc8b2efd1ea5aa962a97b07735823b</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa31aab90bbdebce5a82ec0fbde947236</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acf531b433819a6675fb807f4284a7bd4</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a288422ac104fe8c06908315cf556b497</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel_generic, const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f1eb0ed5d11c826992c8ff058bf1dcf</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad71bd4f97bc5cf78f8fecc2b37682ca2</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7c675de46e040b485dd0d90e0d5e6379</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a28409bc1d4f78271d95630d4bdc0cc90</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel_generic, const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af063b2c15e93d3c380ccd9daa6b22de6</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel_generic, const JointDataBase&lt; JointDataDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>joint_transform</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aefa0ea0a3af3e75e551146593ed25058</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>motion</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0cae76ed328e3dd51c6a0facc18a3373</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aab744aa4e8bab6a7567d40d6d3a968bf</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9f22c4db0ab7093c7f8276a140320d88</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a631864068e479634131c54ca2c5616cd</anchor>
      <arglist>(JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad6699ebd8ac20951fc7f6614b50ff423</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>u_inertia</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a834c8ccc3358a4b1c1fdcd7a8667cde0</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>udinv_inertia</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91bb349a2440679ddb9a5bb14e1274f2</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-binary-visitor.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/visitor/</path>
    <filename>joint-binary-visitor_8hpp</filename>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModel</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModel&lt; NoArg, Dummy &gt;</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModelAndData</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModelAndData&lt; JointModel1, JointModel2, NoArg &gt;</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::fusion</namespace>
    <member kind="typedef">
      <type>boost::blank</type>
      <name>NoArg</name>
      <anchorfile>namespacepinocchio_1_1fusion.html</anchorfile>
      <anchor>a374c34fc282c9fda13fbf122e368cf6a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-collection.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-collection_8hpp</filename>
    <class kind="struct">pinocchio::JointCollectionDefaultTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>JointCollectionDefault::JointDataVariant</type>
      <name>JointDataVariant</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a648d2c07fde952e8d3966f7335dbb97c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionDefault::JointModelVariant</type>
      <name>JointModelVariant</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9ef9f3b85ed00d608a9b17c41979feda</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-common-operations.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-common-operations_8hpp</filename>
    <class kind="struct">pinocchio::ConfigVectorAffineTransform</class>
    <class kind="struct">pinocchio::LinearAffineTransform</class>
    <class kind="struct">pinocchio::internal::PerformStYSInversion</class>
    <class kind="struct">pinocchio::internal::PerformStYSInversion&lt; Scalar, false &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>joint-composite.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-composite_8cpp</filename>
    <class kind="struct">TestJointComposite</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>a54254c4953def431e744e375e42abc68</anchor>
      <arglist>(test_basic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>a8c5a52e84c46bd77cb4647a26b5e1050</anchor>
      <arglist>(chain)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>acc7658f2903f07910bd9f2f52f1ebbef</anchor>
      <arglist>(vsZYX)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>abc1909bd932108b7201df30ab24b646c</anchor>
      <arglist>(vsTranslation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>aa362e1fc11706aac45cfda6ebf1b9040</anchor>
      <arglist>(test_recursive_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>afc1e41e95488e06f3fd458e903da7a74</anchor>
      <arglist>(test_copy)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>a91e44f3e7538a9ba6108426e19e22f9b</anchor>
      <arglist>(test_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_joint_methods</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>ad901d94ca9964084e8db7f864eb50a78</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel, JointModelComposite &amp;jmodel_composite)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_joint_methods</name>
      <anchorfile>joint-composite_8cpp.html</anchorfile>
      <anchor>abc444caa525eeb025d23ae745cfd2a8e</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-composite.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-composite_8hpp</filename>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::JointCompositeTpl</class>
    <class kind="struct">pinocchio::JointDataCompositeTpl</class>
    <class kind="struct">pinocchio::JointModelCompositeTpl</class>
    <class kind="struct">pinocchio::traits&lt; JointCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7184ed2d0c6612f8e867097e3e2d40d1</anchor>
      <arglist>(std::ostream &amp;os, const JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aefbef1012f681c44e6cf246f1c871ce2</anchor>
      <arglist>(std::ostream &amp;os, const JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-configuration.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>joint-configuration_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6d83ab51df727a51d3f6caeaa0ff5d9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6cf7958cdd5fe812d3104d6586c17c3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aee0141985ba16dd60acfdadaab088d02</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2141d11fe93ac3cec942022202c3f878</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a058f23612d01ee8badcd0dfc52d9a95b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a718079ad7afb1730ac3ac8d1b58c1970</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a922787fd5fd5fc7123b91804fa6956fa</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8aa12c4444aa4425160cd60218a112d3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3ba46d5ad53ac70f33da313cb8f24a88</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac1ea82f003a9814a0b1e127d42d32d73</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac45aa354d1462be2797a57f58a38d638</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a68716ee519b707dd6233df1f15e068d6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a46d4733dfbc21527c620e42d53081c39</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f4c8b2ed5cd8c7f159b00d3f90134c8</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabfca70e2e56fb7ca6a7117bc8fc366a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad78262495dd9ca03407676f32198f9f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abf6bcbee8bfde47aa56237df2f6a94f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a20b2699c4f2132b9e4ae06bf4d438098</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acce0f4df4ab287460ef446eca2a20697</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad4129a72be78e13e97eab021fd6413c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7eaa9b06d6b403965e1ef356e615fd01</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab472f8bc3f619483d1a34c876e233ce6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa902ab2bd9f27aed5afcb263a8f76d0e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ace191a5497cd1d24d811990a73f9aedc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abe8106929836bb8bb3337f9033dfa91b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a31f1fe39670df02204886d1542b0b34f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a76732ba68d945ff5fb1aea3960c0c081</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>affd9b103f1aacb7404246186f0002bd5</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4716246cde3281fa574386c9c5b94000</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a49dc8c1549ec7ea90c16e35b34b8ce54</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8c0eedf0b4f303db4c9dc7fb794ac891</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9c29fb6451bb60d5c88ccd1d27fe1af4</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6d83ab51df727a51d3f6caeaa0ff5d9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6cf7958cdd5fe812d3104d6586c17c3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aee0141985ba16dd60acfdadaab088d02</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2141d11fe93ac3cec942022202c3f878</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a058f23612d01ee8badcd0dfc52d9a95b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a718079ad7afb1730ac3ac8d1b58c1970</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a922787fd5fd5fc7123b91804fa6956fa</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8aa12c4444aa4425160cd60218a112d3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3ba46d5ad53ac70f33da313cb8f24a88</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac1ea82f003a9814a0b1e127d42d32d73</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac45aa354d1462be2797a57f58a38d638</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a68716ee519b707dd6233df1f15e068d6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a46d4733dfbc21527c620e42d53081c39</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f4c8b2ed5cd8c7f159b00d3f90134c8</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabfca70e2e56fb7ca6a7117bc8fc366a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad78262495dd9ca03407676f32198f9f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abf6bcbee8bfde47aa56237df2f6a94f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a20b2699c4f2132b9e4ae06bf4d438098</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acce0f4df4ab287460ef446eca2a20697</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad4129a72be78e13e97eab021fd6413c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7eaa9b06d6b403965e1ef356e615fd01</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab472f8bc3f619483d1a34c876e233ce6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa902ab2bd9f27aed5afcb263a8f76d0e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ace191a5497cd1d24d811990a73f9aedc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abe8106929836bb8bb3337f9033dfa91b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a31f1fe39670df02204886d1542b0b34f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a76732ba68d945ff5fb1aea3960c0c081</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>affd9b103f1aacb7404246186f0002bd5</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4716246cde3281fa574386c9c5b94000</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a49dc8c1549ec7ea90c16e35b34b8ce54</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8c0eedf0b4f303db4c9dc7fb794ac891</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9c29fb6451bb60d5c88ccd1d27fe1af4</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Options</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac86da1412ba993453f5229f6e7b1bc08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl &amp;</type>
      <name>model</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a95b48e0f139d25d73f692ef72aaef315</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;</type>
      <name>q</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a81f258e1bcff5f7baaac54261aaeea1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorType &gt; const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;</type>
      <name>v</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae4ab323f4fd097f7322c9ee65067b8ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;</type>
      <name>q0</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6cbff702ff719492083bab6f7c895a2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;</type>
      <name>q1</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8a3fb45bbb5bb07462801f48252e7b25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; const Scalar &amp;</type>
      <name>u</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>add8638cd66d68f2753c45606d32b2ad3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;</type>
      <name>lowerLimits</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a99af721a0a2f7110e1bbfa25e345205e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;</type>
      <name>upperLimits</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9c96f0b50b057708df819619a112dd6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4327a9454590b9b7e91b3f6a131cfd50</anchor>
      <arglist>(ConfigVectorType) integrate(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6d9ddf8c1e2058922cf37e18d62fed61</anchor>
      <arglist>(ConfigVectorType) integrate(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae6b8bc774284448f0f44b016e67d7873</anchor>
      <arglist>(ConfigVectorIn1) interpolate(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2b9f38ca85a67fb4fb719c37c02046a2</anchor>
      <arglist>(ConfigVectorIn1) difference(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a49c6fd6cde8d214052963e66a55a3426</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1eba94a0d1c72a1b8b614ecf1b3970c8</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a658309c1632d40be3158c9cb66a8bd7a</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afa8e53bdb0b496cc62e6ed883637af38</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0030d83dd0705ec95c4ebad6bb0629d9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a566ad2fe023f1fd92e926efb22bcad7a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-configurations.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-configurations_8cpp</filename>
    <includes id="model-generator_8hpp" name="model-generator.hpp" local="yes" imported="no">utils/model-generator.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a9a3b66fc678554dc46a5194bcbabc828</anchor>
      <arglist>(integration_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a863c73025c2b9126679d40d3922690d1</anchor>
      <arglist>(interpolate_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a2fcae4ccbd42f16403e6d92fe7ceca26</anchor>
      <arglist>(diff_integration_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a11585f4ccc66cd8823b8f5f3af15f405</anchor>
      <arglist>(diff_difference_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a5867d860c37316bb4e3970512d4d68ed</anchor>
      <arglist>(diff_difference_vs_diff_integrate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a15994a24c11ce2048b7ee3da5ec31293</anchor>
      <arglist>(dIntegrate_assignementop_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>acd25d973ee10f9b4b2bdeb28a8aa0e59</anchor>
      <arglist>(integrate_difference_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a237072cc7dbf23b8ea5517c8c8ca0fa1</anchor>
      <arglist>(neutral_configuration_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a876dae03441d9b8ff30c78f27c31368e</anchor>
      <arglist>(distance_configuration_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>ad9a8f5c004f2e8c18ee5b24dcdfe8ab7</anchor>
      <arglist>(squared_distance_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a58a08607f56dae7cf15fc91808d4eaa8</anchor>
      <arglist>(uniform_sampling_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a36b13ad5fc9a8dbd8cfb4719d3dc1f22</anchor>
      <arglist>(normalize_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>afb3d118530d3707d379bbbeda8d41ab7</anchor>
      <arglist>(is_normalized_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-configurations_8cpp.html</anchorfile>
      <anchor>a9595d6b448514bd656a0aece5f6af279</anchor>
      <arglist>(integrateCoeffWiseJacobian_test)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-data-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-data-base_8hpp</filename>
    <class kind="struct">pinocchio::JointDataBase</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE</name>
      <anchorfile>joint-data-base_8hpp.html</anchorfile>
      <anchor>a7e909fee431f6c3d7afb1f62e090f398</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR</name>
      <anchorfile>joint-data-base_8hpp.html</anchorfile>
      <anchor>af0fcbc2f9ee4995137ad6f291d3c899f</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF</name>
      <anchorfile>joint-data-base_8hpp.html</anchorfile>
      <anchor>ab3eeb668c2371a356a71acf9c15504ef</anchor>
      <arglist>(Joint)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC</name>
      <anchorfile>joint-data-base_8hpp.html</anchorfile>
      <anchor>a9e78431f67e94c88fa148d4e6d89ae55</anchor>
      <arglist>(Joint, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>joint-data-base_8hpp.html</anchorfile>
      <anchor>af46bb0d2e6b22601fcbc6fdb5025603e</anchor>
      <arglist>(Joint)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-derived.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/joint/</path>
    <filename>joint-derived_8hpp</filename>
    <class kind="struct">pinocchio::python::JointDataDerivedPythonVisitor</class>
    <class kind="struct">pinocchio::python::JointModelDerivedPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>joint-free-flyer.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-free-flyer_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-free-flyer_8cpp.html</anchorfile>
      <anchor>a514bba0a469425296a5f97662d314a27</anchor>
      <arglist>(spatial)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-free-flyer.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-free-flyer_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintIdentityTpl</class>
    <class kind="struct">pinocchio::ConstraintIdentityTpl</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointModelFreeFlyerTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintIdentityTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintIdentityTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintIdentityTpl::TransposeConst</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>MotionRef&lt; const Vector6Like &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5574a45baad5d743734e54f550082fd8</anchor>
      <arglist>(const ConstraintIdentityTpl&lt; Scalar, Options &gt; &amp;, const Eigen::MatrixBase&lt; Vector6Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl&lt; S1, O1 &gt;::Matrix6</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aab4cd452b1ed035ceac5441decf89758</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintIdentityTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a85c993ffd2a892251f372cd97a0c58b4</anchor>
      <arglist>(Matrix6Like) operator*(const Eigen</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa5005bfe0ffbbdc62952c3c432e4eab7</anchor>
      <arglist>(JointModelFreeFlyerTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-generic.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-generic_8cpp</filename>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataTest</class>
    <class kind="struct">pinocchio::JointModelTest</class>
    <class kind="struct">pinocchio::JointModelTest</class>
    <class kind="struct">pinocchio::JointTest</class>
    <class kind="struct">TestJoint</class>
    <class kind="struct">TestJointOperatorEqual</class>
    <class kind="struct">pinocchio::traits&lt; JointDataTest&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelTest&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a7dfb89dce5768e110e26f604b1951fc3</anchor>
      <arglist>(test_joint_from_joint_composite)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a58f4039f8b5b2ce8a6aa95c53ff3f81b</anchor>
      <arglist>(test_all_joints)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a8b00baa6473198ce12bf0cce3da9f6f8</anchor>
      <arglist>(test_empty_model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a056e66785acaa3548ffaab6dafde79a0</anchor>
      <arglist>(isEqual)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a786be6ac48d63877e768c68f326114f4</anchor>
      <arglist>(cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a2a98260313bdc89f7c2b868ed57f28f6</anchor>
      <arglist>(test_operator_equal)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_joint_methods</name>
      <anchorfile>joint-generic_8cpp.html</anchorfile>
      <anchor>a5046d0a738141d4bfec1c13cb9fcd992</anchor>
      <arglist>(JointModelBase&lt; JointModel &gt; &amp;jmodel, JointDataBase&lt; typename JointModel::JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-generic.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-generic_8hpp</filename>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataTpl</class>
    <class kind="struct">pinocchio::JointModelTpl</class>
    <class kind="struct">pinocchio::JointTpl</class>
    <class kind="struct">pinocchio::traits&lt; JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>JointTpl&lt; double &gt;</type>
      <name>Joint</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8b259227a8b29338eb89876d100bbe75</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0fff33f6623b4853b1bb1dbcdc4ec38c</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;joint_data, const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_data_generic)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac9d3f7ebf9d845224e011ce1ec13a71a</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;joint_model, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_model_generic)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a61904f7f0b71be775727d7868840ef54</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;joint_data, const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_data_generic)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a82bb54e4a96c13278c4d4e6af2f08760</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;joint_model, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_model_generic)</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa6fc30f02654b639808af9369d0a9856</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af883f96a55fecae09cd69a2d0385f403</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-jacobian.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-jacobian_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-jacobian_8cpp.html</anchorfile>
      <anchor>a5261f4d8ae8f23359ad4d1f05d058cb7</anchor>
      <arglist>(test_jacobian)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-jacobian_8cpp.html</anchorfile>
      <anchor>ac8b185525653602676e84ca9fed137d7</anchor>
      <arglist>(test_jacobian_time_variation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-jacobian_8cpp.html</anchorfile>
      <anchor>a71996e187088123d8ce0d4b9c8e7dc7d</anchor>
      <arglist>(test_timings)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isFinite</name>
      <anchorfile>joint-jacobian_8cpp.html</anchorfile>
      <anchor>aff920be3a06be8915477a69492b5c4c4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-mimic.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-mimic_8cpp</filename>
    <class kind="struct">TestJointConstraint</class>
    <class kind="struct">TestJointMimic</class>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, Eigen::Dynamic &gt;</type>
      <name>Matrix6x</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>a5fbfbe95630113cceaa39c82947a70d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>ac9e4c31546456ba35c32a6951378cadd</anchor>
      <arglist>(test_constraint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>a711892c17f2243e0d2b3d83ad4f36fe4</anchor>
      <arglist>(test_joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>aded5a0f8827032b30e2acbe46e7b6161</anchor>
      <arglist>(test_transform_linear_affine)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>aefefe95d7570a4bff9fbecba4cd6c704</anchor>
      <arglist>(test_transform_linear_revolute)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>a04bf2c0e0d8f505f4297f728156fd89a</anchor>
      <arglist>(test_joint_generic_cast)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_constraint_mimic</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>a495cdfe1cdb81247762dafe2f37cbc5c</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_joint_mimic</name>
      <anchorfile>joint-mimic_8cpp.html</anchorfile>
      <anchor>a46cce3b4461c6f891dd5302aca06f07f</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-mimic.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-mimic_8hpp</filename>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelMimic&lt; JointModel &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ScaledConstraint&lt; Constraint &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ScaledConstraint&lt; Constraint &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::JointDataMimic</class>
    <class kind="struct">pinocchio::JointDataMimic</class>
    <class kind="struct">pinocchio::JointMimic</class>
    <class kind="struct">pinocchio::JointModelMimic</class>
    <class kind="struct">pinocchio::JointModelMimic</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ScaledConstraint&lt; Constraint &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::ScaledConstraint</class>
    <class kind="struct">pinocchio::ScaledConstraint</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ScaledConstraint&lt; Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataMimic&lt; Joint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointMimic&lt; Joint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelMimic&lt; Joint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ScaledConstraint&lt; Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::ScaledConstraint::TransposeConst</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::impl</namespace>
  </compound>
  <compound kind="file">
    <name>joint-model-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-model-base_8hpp</filename>
    <class kind="struct">pinocchio::JointModelBase</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>joint-model-base_8hpp.html</anchorfile>
      <anchor>a1630bd80386b259638b285e2e6560a72</anchor>
      <arglist>(JointModelTpl)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC</name>
      <anchorfile>joint-model-base_8hpp.html</anchorfile>
      <anchor>a2bbe4b42e179d2224e80d85a8516d6c1</anchor>
      <arglist>(Joint, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_TYPEDEF</name>
      <anchorfile>joint-model-base_8hpp.html</anchorfile>
      <anchor>ae16624e6299a9c2302fb10331a69eb35</anchor>
      <arglist>(Joint)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>joint-model-base_8hpp.html</anchorfile>
      <anchor>a20dacaffea8e1aaea5304646b42110c6</anchor>
      <arglist>(Joint)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_JOINT_USE_INDEXES</name>
      <anchorfile>joint-model-base_8hpp.html</anchorfile>
      <anchor>a19b26a05d915d185b2c02e8ec26cb85c</anchor>
      <arglist>(Joint)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-planar.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-planar_8cpp</filename>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>joint-planar_8cpp.html</anchorfile>
      <anchor>ae572b2534b94b907f4719fed525ebc35</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-planar_8cpp.html</anchorfile>
      <anchor>a514bba0a469425296a5f97662d314a27</anchor>
      <arglist>(spatial)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-planar_8cpp.html</anchorfile>
      <anchor>a87bfbe698df0e29d47f652b778541699</anchor>
      <arglist>(vsFreeFlyer)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-planar.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-planar_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintPlanarTpl</class>
    <class kind="struct">pinocchio::ConstraintPlanarTpl</class>
    <class kind="struct">pinocchio::ConstraintPlanarTpl::ConstraintTranspose</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataPlanarTpl</class>
    <class kind="struct">pinocchio::JointModelPlanarTpl</class>
    <class kind="struct">pinocchio::JointPlanarTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintPlanarTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionPlanarTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionPlanarTpl</class>
    <class kind="struct">pinocchio::MotionPlanarTpl</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintPlanarTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointPlanarTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>MotionPlanarTpl&lt; double &gt;</type>
      <name>MotionPlanar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a664ca55e12de3e0677259eebc4c54a97</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2dd6a1fcbc776ceb8139d81ab43bd93f</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintPlanarTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S2, 6, 3, O2 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aea79fb298dfedd20e0cb630a6fe00b91</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const ConstraintPlanarTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8bd1b25eb9d9d331813820660290f4b3</anchor>
      <arglist>(const MotionPlanarTpl&lt; Scalar, Options &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1306c00b204d2236fff8a4e3676da12b</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionPlanarTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acc755fa323b6578dd34fde69b9cb1d92</anchor>
      <arglist>(JointModelPlanarTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-prismatic-unaligned.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-prismatic-unaligned_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::ConstraintPrismaticUnalignedTpl</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::MotionPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintPrismaticUnalignedTpl::TransposeConst</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::impl</namespace>
    <member kind="typedef">
      <type>MotionPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>MotionPrismaticUnaligned</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9499ba4e48186f6981c1d3871dd9d9b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a03d767266cd3e5699ba48427dfb5b796</anchor>
      <arglist>(const MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a865d0753c4610306baa4ef746d02d486</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionPrismaticUnalignedTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7479c3b6acb866d22ed89925c41b166b</anchor>
      <arglist>(JointModelPrismaticUnalignedTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-prismatic.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-prismatic_8cpp</filename>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>joint-prismatic_8cpp.html</anchorfile>
      <anchor>ae572b2534b94b907f4719fed525ebc35</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-prismatic_8cpp.html</anchorfile>
      <anchor>a514bba0a469425296a5f97662d314a27</anchor>
      <arglist>(spatial)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-prismatic_8cpp.html</anchorfile>
      <anchor>a91e44f3e7538a9ba6108426e19e22f9b</anchor>
      <arglist>(test_kinematics)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-prismatic_8cpp.html</anchorfile>
      <anchor>a38b1385dfb18622d30fe6fe1b75862c0</anchor>
      <arglist>(test_rnea)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-prismatic_8cpp.html</anchorfile>
      <anchor>a92e3e9a377106296f929d16a03e37967</anchor>
      <arglist>(test_crba)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-prismatic_8cpp.html</anchorfile>
      <anchor>ace069725582ab0b92f3aaf275192858c</anchor>
      <arglist>(vsPX)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-prismatic.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-prismatic_8hpp</filename>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintPrismaticTpl</class>
    <class kind="struct">pinocchio::ConstraintPrismaticTpl</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataPrismaticTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticTpl</class>
    <class kind="struct">pinocchio::JointPrismaticTpl</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 0 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 1 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 2 &gt; &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionPrismaticTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionPrismaticTpl</class>
    <class kind="struct">pinocchio::MotionPrismaticTpl</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; TransformPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; TransformPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</class>
    <class kind="struct">pinocchio::TransformPrismaticTpl</class>
    <class kind="struct">pinocchio::TransformPrismaticTpl</class>
    <class kind="struct">pinocchio::ConstraintPrismaticTpl::TransposeConst</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::impl</namespace>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; double, 0, 0 &gt;</type>
      <name>JointDataPX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2d7fb835717f2bd25c8233323a6d5cb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; double, 0, 1 &gt;</type>
      <name>JointDataPY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a33a6edb3ac2036262a93d7c7a85d1102</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; double, 0, 2 &gt;</type>
      <name>JointDataPZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa719b26552fb26f4f730e6bb6bbffe6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; double, 0, 0 &gt;</type>
      <name>JointModelPX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad7315c71b7bf7523ce818c59c61b6294</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; double, 0, 1 &gt;</type>
      <name>JointModelPY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abd99dc877e7be6ef658279413e529616</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; double, 0, 2 &gt;</type>
      <name>JointModelPZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a98fec62908ef22c7998eb5a3edf65765</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; double, 0, 0 &gt;</type>
      <name>JointPX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3962bd11b81fcaea9d23958a65161efb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; double, 0, 1 &gt;</type>
      <name>JointPY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abb784c8d1af8678585636674cbc95f6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; double, 0, 2 &gt;</type>
      <name>JointPZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a957528d673379484be8864f60b043c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab3d984c4e663955084f1c14a6fda6a01</anchor>
      <arglist>(const MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_STRONG_INLINE MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad744c22a8fe55fac4465421488d38361</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionPrismaticTpl&lt; S2, O2, axis &gt; &amp;m2)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-revolute-unaligned.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-revolute-unaligned_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::ConstraintRevoluteUnalignedTpl</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::MotionRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintRevoluteUnalignedTpl::TransposeConst</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::impl</namespace>
    <member kind="typedef">
      <type>MotionRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>MotionRevoluteUnaligned</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a79e85433f3392bea3f7567928da14fbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abdd6f53cda0567830a086af879c1c84d</anchor>
      <arglist>(const MotionRevoluteUnalignedTpl&lt; S1, O1 &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b2d52a2e42889882d64ba6a7ced028f</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionRevoluteUnalignedTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae2b0bb711fc32a781b84f9debdab402c</anchor>
      <arglist>(JointModelRevoluteUnalignedTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-revolute-unbounded-unaligned.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-revolute-unbounded-unaligned_8hpp</filename>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a065fae877c5c7b0a5e2268281150c5e4</anchor>
      <arglist>(JointModelRevoluteUnboundedUnalignedTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-revolute-unbounded.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-revolute-unbounded_8hpp</filename>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::ConfigVectorAffineTransform&lt; JointRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::UnboundedRevoluteAffineTransform</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; double, 0, 0 &gt;</type>
      <name>JointDataRUBX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa7767827631206dca85006cfdbc7a33f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; double, 0, 1 &gt;</type>
      <name>JointDataRUBY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a231bc3f5c7f39a3497ebd4c68a632780</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; double, 0, 2 &gt;</type>
      <name>JointDataRUBZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adf56d096e1a2332a7d9d7730ffb191c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; double, 0, 0 &gt;</type>
      <name>JointModelRUBX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adad9ace1a6ec4a4565dde408e20ed89e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; double, 0, 1 &gt;</type>
      <name>JointModelRUBY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae9e717a705e8d520f1b389b88b1c494d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; double, 0, 2 &gt;</type>
      <name>JointModelRUBZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac764582dd4637a6894db7d75985518f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; double, 0, 0 &gt;</type>
      <name>JointRUBX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acad9740a990dfff06503920ffee4aee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; double, 0, 1 &gt;</type>
      <name>JointRUBY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a77b27258f0ac8ffca780ed997607d282</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; double, 0, 2 &gt;</type>
      <name>JointRUBZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0591f261bc9898bc95faa9e6472ac1f4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-revolute.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-revolute_8cpp</filename>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>joint-revolute_8cpp.html</anchorfile>
      <anchor>ae572b2534b94b907f4719fed525ebc35</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-revolute_8cpp.html</anchorfile>
      <anchor>af74557b5a7b40cce315d84be3bf60fed</anchor>
      <arglist>(vsRX)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-revolute_8cpp.html</anchorfile>
      <anchor>aa579e809dcdc0c85d0e5dc5cdb37d6ad</anchor>
      <arglist>(vsRUX)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-revolute_8cpp.html</anchorfile>
      <anchor>a514bba0a469425296a5f97662d314a27</anchor>
      <arglist>(spatial)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-revolute.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-revolute_8hpp</filename>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintRevoluteTpl</class>
    <class kind="struct">pinocchio::ConstraintRevoluteTpl</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataRevoluteTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteTpl</class>
    <class kind="struct">pinocchio::JointRevoluteTpl</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 0 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 1 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 2 &gt; &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionRevoluteTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionRevoluteTpl</class>
    <class kind="struct">pinocchio::MotionRevoluteTpl</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; TransformRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; TransformRevoluteTpl&lt; _Scalar, _Options, _axis &gt; &gt;</class>
    <class kind="struct">pinocchio::TransformRevoluteTpl</class>
    <class kind="struct">pinocchio::TransformRevoluteTpl</class>
    <class kind="struct">pinocchio::ConstraintRevoluteTpl::TransposeConst</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::impl</namespace>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; double, 0, 0 &gt;</type>
      <name>JointDataRX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abbbf51cf8af270b1b90e8774c8fb3bf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; double, 0, 1 &gt;</type>
      <name>JointDataRY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad3426caf353ec3373a71927f45935ee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; double, 0, 2 &gt;</type>
      <name>JointDataRZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0b9cea6ea95ab230951a6134a6ad266b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; double, 0, 0 &gt;</type>
      <name>JointModelRX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabe097f338fb41a6cae5c01d28522ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; double, 0, 1 &gt;</type>
      <name>JointModelRY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a853ae2226c037b92ba30263da6e628d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; double, 0, 2 &gt;</type>
      <name>JointModelRZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>affdd2819741c983350a253e15be1fdd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; double, 0, 0 &gt;</type>
      <name>JointRX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae3f55c9d4e9277f1752571916f7b3e93</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; double, 0, 1 &gt;</type>
      <name>JointRY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aad962351727fc6b0f3d44f662eaec617</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; double, 0, 2 &gt;</type>
      <name>JointRZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adfc32ad486b0316aeee08163416a7c0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aff6f27e7e909027c43e5a7eaa0a4745e</anchor>
      <arglist>(const MotionRevoluteTpl&lt; S1, O1, axis &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_STRONG_INLINE MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1a6808d81ed89932a03633db7ba956a1</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionRevoluteTpl&lt; S2, O2, axis &gt; &amp;m2)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-spherical-ZYX.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-spherical-ZYX_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintSphericalZYXTpl</class>
    <class kind="struct">pinocchio::ConstraintSphericalZYXTpl</class>
    <class kind="struct">pinocchio::ConstraintSphericalZYXTpl::ConstraintTranspose</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointSphericalZYXTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintSphericalZYXTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintSphericalZYXTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a72e2abe45dd04092ece068521d0d637a</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintSphericalZYXTpl&lt; S2, O2 &gt; &amp;S)</arglist>
    </member>
    <member kind="function">
      <type>const MatrixMatrixProduct&lt; typename Eigen::internal::remove_const&lt; typename SizeDepType&lt; 3 &gt;::ColsReturn&lt; Matrix6Like &gt;::ConstType &gt;::type, typename ConstraintSphericalZYXTpl&lt; S2, O2 &gt;::Matrix3 &gt;::type</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae39f8c027783e89f261c8bdb30b6957e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Y, const ConstraintSphericalZYXTpl&lt; S2, O2 &gt; &amp;S)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabd5c6c2ca8a2a37ed7161c40eccc83a</anchor>
      <arglist>(JointModelSphericalZYXTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-spherical.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-spherical_8cpp</filename>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>joint-spherical_8cpp.html</anchorfile>
      <anchor>ae572b2534b94b907f4719fed525ebc35</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-spherical_8cpp.html</anchorfile>
      <anchor>a514bba0a469425296a5f97662d314a27</anchor>
      <arglist>(spatial)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-spherical_8cpp.html</anchorfile>
      <anchor>a87bfbe698df0e29d47f652b778541699</anchor>
      <arglist>(vsFreeFlyer)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-spherical_8cpp.html</anchorfile>
      <anchor>a38b1385dfb18622d30fe6fe1b75862c0</anchor>
      <arglist>(test_rnea)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-spherical_8cpp.html</anchorfile>
      <anchor>a92e3e9a377106296f929d16a03e37967</anchor>
      <arglist>(test_crba)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-spherical.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-spherical_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintSphericalTpl</class>
    <class kind="struct">pinocchio::ConstraintSphericalTpl</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataSphericalTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalTpl</class>
    <class kind="struct">pinocchio::JointSphericalTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintSphericalTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionSphericalTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionSphericalTpl</class>
    <class kind="struct">pinocchio::MotionSphericalTpl</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintSphericalTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointSphericalTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::ConstraintSphericalTpl::TransposeConst</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; double &gt;</type>
      <name>MotionSpherical</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a033b06d19f554974cebfeabea0d8ab58</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S2, 6, 3, O2 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7bd5dff971cf250d19a31ef0ae3cc304</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintSphericalTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; 3 &gt;::ColsReturn&lt; M6Like &gt;::ConstType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aeba53d65da7f65e7a72346bffe435e21</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const ConstraintSphericalTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab0eadd7041c3ed645cb6c49a61ce38f2</anchor>
      <arglist>(const MotionSphericalTpl&lt; S1, O1 &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a406b625638da7d2b5d707e96a234c79c</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionSphericalTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a40b68700343da7cc43ccbcc0424f60e0</anchor>
      <arglist>(JointModelSphericalTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-translation.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>joint-translation_8cpp</filename>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>joint-translation_8cpp.html</anchorfile>
      <anchor>ae572b2534b94b907f4719fed525ebc35</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-translation_8cpp.html</anchorfile>
      <anchor>a514bba0a469425296a5f97662d314a27</anchor>
      <arglist>(spatial)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>joint-translation_8cpp.html</anchorfile>
      <anchor>a87bfbe698df0e29d47f652b778541699</anchor>
      <arglist>(vsFreeFlyer)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-translation.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>joint-translation_8hpp</filename>
    <class kind="struct">pinocchio::ConstraintTranslationTpl</class>
    <class kind="struct">pinocchio::ConstraintTranslationTpl</class>
    <class kind="struct">pinocchio::ConstraintTranslationTpl::ConstraintTranspose</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::JointDataTranslationTpl</class>
    <class kind="struct">pinocchio::JointModelTranslationTpl</class>
    <class kind="struct">pinocchio::JointTranslationTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintTranslationTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionTranslationTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionTranslationTpl</class>
    <class kind="struct">pinocchio::MotionTranslationTpl</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintTranslationTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; TransformTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::TransformTranslationTpl</class>
    <class kind="struct">pinocchio::TransformTranslationTpl</class>
    <namespace>boost</namespace>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>MotionTranslationTpl&lt; double &gt;</type>
      <name>MotionTranslation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae44511400078725af5cb5a7bc46200d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S2, 6, 3, O2 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1857e75c95beb53786a1668d9bd6d5c9</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintTranslationTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>const SizeDepType&lt; 3 &gt;::ColsReturn&lt; M6Like &gt;::ConstType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a75e5b3b9a3c636454793910560e6843d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const ConstraintTranslationTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a342841d7ac4dc1a0d292fd7af3905888</anchor>
      <arglist>(const MotionTranslationTpl&lt; S1, O1 &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a35a0ca1bf535217516d2b805d61cf3fc</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionTranslationTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a061675e120c260239d9db8808e64d4b4</anchor>
      <arglist>(JointModelTranslationTpl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint-unary-visitor.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/visitor/</path>
    <filename>joint-unary-visitor_8hpp</filename>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModel</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModel&lt; NoArg, Dummy &gt;</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModelAndData</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModelAndData&lt; JointModel, NoArg &gt;</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase</class>
    <class kind="struct">pinocchio::fusion::JointVisitorBase</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::fusion</namespace>
  </compound>
  <compound kind="file">
    <name>joint.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/joint/</path>
    <filename>joint_8hpp</filename>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::JointModelPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>joints-constraint.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>joints-constraint_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a27dc44a948e56ea79d2bb8ad3441bcc7</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ac5d2c1c4443010211a106daa4888d7c7</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>afa0b1d4f4bdb0e910876eb5575e9509c</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintSphericalTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a92ddc61e210c432ad7a0ce818e3c2b0f</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintTranslationTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ac3fa4b0338e5d6ccae459d1126d8c853</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintIdentityTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a44feee620523465cbfaf06c26f64d1da</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad80e155c75180ea2859abb01b38faa8e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a324c62f90f43f8c2465c53ef5d1e1f95</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintTpl&lt; Dim, Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>abe7299e77f5cf7b78b18fd7ef83f5823</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ScaledConstraint&lt; Constraint &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6a4ee0c411449a124b36d55c7ce818d5</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintPlanarTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0bc653d78c9dd9f9c310f39b7528620a</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintSphericalZYXTpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-data.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>joints-data_8hpp</filename>
    <class kind="struct">pinocchio::Serialize&lt; JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <namespace>boost::serialization::fix</namespace>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization_1_1fix.html</anchorfile>
      <anchor>ab73412eedfa2c392a3be6ec31fb13c45</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataBase&lt; Derived &gt; &amp;joint_data, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0bced71cc210ab9832992f97fe3faa72</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>abbc245dff2ab53917a089267fe20d04e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a5eee4642a04c5f1f39b28dadcea6160f</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a321ce1bec0102bcf7effbc55df1bc141</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a738b1c287d47dbabc0c4413740146049</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a698907a8b2811757604eded17262d7f6</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a1cbf8424d3bbe44c98eb3c6095b366a7</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab754dd833b7a1f03c9b3498b63a3451d</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad73a5f603b1fe6864021a19af4194294</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6a9f1d82b6c49fb4af8a3d9ed0faa94c</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a83aa8af8aa735d4c91c26fc4affd287e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a8cc1f8860021fe7657d795534abe9bf7</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a5bdf4e07ce6757c5d575fc5c5aec22ed</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aab551e7346d4171476a064c491aac1e2</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataMimic&lt; JointData &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-datas.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/joint/</path>
    <filename>joints-datas_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>bp::class_&lt; T &gt; &amp;</type>
      <name>expose_joint_data</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5ccfe171a4366d95ecc0b2c960096815</anchor>
      <arglist>(bp::class_&lt; T &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataComposite &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataComposite &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2aed1b9eafbdd05d1d11cb6f1311e94c</anchor>
      <arglist>(bp::class_&lt; JointDataComposite &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataPlanar &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataPlanar &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af8d81cc13aa000792eb8cd47e582ffaf</anchor>
      <arglist>(bp::class_&lt; JointDataPlanar &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataPrismaticUnaligned &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataPrismaticUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a99fe56a2c61f6db49236dc7e16fc24f3</anchor>
      <arglist>(bp::class_&lt; JointDataPrismaticUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataRevoluteUnaligned &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataRevoluteUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae1a908ed5ed5a2ac993a55f2b5b65c9b</anchor>
      <arglist>(bp::class_&lt; JointDataRevoluteUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataSphericalZYX &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataSphericalZYX &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7b95caa54b44f5875dcc3e59e7be80e8</anchor>
      <arglist>(bp::class_&lt; JointDataSphericalZYX &gt; &amp;cl)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-model.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>joints-model_8hpp</filename>
    <class kind="struct">pinocchio::Serialize&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <namespace>boost::serialization::fix</namespace>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aede811d757dc94e2cbbcaffa67265f4f</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelBase&lt; Derived &gt; &amp;joint, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a38e090c9e71ce504b2d1ad5fe30c6e15</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::JointModelBase&lt; Derived &gt; &amp;joint, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization_1_1fix.html</anchorfile>
      <anchor>aebb82d20df534488019db6eebefbd491</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelBase&lt; Derived &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a077f2a12aa3027f0342fa291f62ad716</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab8b460458e42be4919a0069bd2310185</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a2f55b9d36d90ec3b92c440c24b3d7bf6</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0db276959e69fda6d3265fa567661a75</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a748bd45b2783f28ee236ccb29ec41494</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6bad7661d8228f1d24287483465bae8e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a02d9fc894682ed0d57928afa20b5cf7d</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7140a16cbef3e16fdfe9ae7bd9e765e9</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7252f1fe0325118ed3e8568dbdddaf22</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a97621d83fbf772911d2b59c7914ca664</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a3bb685e0992564f7945922793cbf4c51</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a73936cd03bdf8899dc0c6e89934350ec</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a80a6a0676acdf3292a2a9e3b708f4e15</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a80bdd0d4440bb785dfba311af3fa1c50</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelMimic&lt; JointModel &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-models.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/joint/</path>
    <filename>joints-models_8hpp</filename>
    <class kind="struct">pinocchio::python::JointModelCompositeAddJointVisitor</class>
    <class kind="struct">pinocchio::python::JointModelCompositeConstructorVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static JointModelComposite &amp;</type>
      <name>addJoint_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a82c1172129db47e9a488c8a51d72cfd7</anchor>
      <arglist>(JointModelComposite &amp;joint_composite, const JointModel &amp;jmodel, const SE3 &amp;joint_placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; T &gt; &amp;</type>
      <name>expose_joint_model</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a03e1417bd01468d33a8851431138cb3b</anchor>
      <arglist>(bp::class_&lt; T &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointModelComposite &gt; &amp;</type>
      <name>expose_joint_model&lt; JointModelComposite &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a3a071991ee29586fda16593ec13a9fe6</anchor>
      <arglist>(bp::class_&lt; JointModelComposite &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointModelPrismaticUnaligned &gt; &amp;</type>
      <name>expose_joint_model&lt; JointModelPrismaticUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aad5c2fbfde16b7a74802996f0f733d19</anchor>
      <arglist>(bp::class_&lt; JointModelPrismaticUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointModelRevoluteUnaligned &gt; &amp;</type>
      <name>expose_joint_model&lt; JointModelRevoluteUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a95cf826623249538042af60fec3d0eda</anchor>
      <arglist>(bp::class_&lt; JointModelRevoluteUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModelComposite *</type>
      <name>init_proxy1</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af1ecffa9af9649530fad3862a5832d74</anchor>
      <arglist>(const JointModel &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModelComposite *</type>
      <name>init_proxy2</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af789e55529a25685415c441146f3b6d8</anchor>
      <arglist>(const JointModel &amp;jmodel, const SE3 &amp;joint_placement)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-motion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>joints-motion_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a1edf067471f15ac965b4053918258df0</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a3bbdf48304dc7c5ad5c7e50500adcb6c</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aafeb2dd7f462b10f9aabc0c7a24d2549</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionSphericalTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aa5bdf3ac3a5db5855320849bd920c332</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionTranslationTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a52b58b60477883985e0ac2367e542e8b</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionPlanarTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>afa2d409a5f692c4c80f5eff2a21b7078</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad169827597ca0666b2c7588d83bf172c</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-transform.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>joints-transform_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a484a431fdcf733ae803b8599a33aece9</anchor>
      <arglist>(Archive &amp;ar, pinocchio::TransformRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a53d677ee8cc3038f0e69f2ded7c4a0aa</anchor>
      <arglist>(Archive &amp;ar, pinocchio::TransformPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7ff3c0cd25d6e372651049b13f6eb722</anchor>
      <arglist>(Archive &amp;ar, pinocchio::TransformTranslationTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joints-variant.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/joint/</path>
    <filename>joints-variant_8hpp</filename>
    <includes id="joints-models_8hpp" name="joints-models.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/joint/joints-models.hpp</includes>
    <includes id="joints-datas_8hpp" name="joints-datas.hpp" local="yes" imported="no">pinocchio/bindings/python/multibody/joint/joints-datas.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::JointDataExposer</class>
    <class kind="struct">pinocchio::python::JointModelExposer</class>
    <class kind="struct">pinocchio::python::JointVariantVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>std::string</type>
      <name>sanitizedClassname</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa533d11403ec55245dd4e5c649c2be97</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multibody/joint/joints.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/joint/</path>
    <filename>multibody_2joint_2joints_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>serialization/joints.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>serialization_2joints_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>examples/kinematics-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>examples_2kinematics-derivatives_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>examples_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>examples_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/kinematics-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2kinematics-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>ab4618a9e63c9bf61831d19b60fbd6c85</anchor>
      <arglist>(test_kinematics_derivatives_all)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>a4fe009899dc3ebf8d84f563188463bb7</anchor>
      <arglist>(test_kinematics_derivatives_velocity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>ae4ad00fdf55f694eeb0402c25a4b22b3</anchor>
      <arglist>(test_kinematics_derivatives_acceleration)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>a28562995a0d0ad003e2900697ab89d43</anchor>
      <arglist>(test_kinematics_derivatives_against_classic_formula)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2kinematics-derivatives_8cpp.html</anchorfile>
      <anchor>a2506b3273de615d6d5d82ae9d736bf81</anchor>
      <arglist>(test_kinematics_hessians)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>kinematics-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>kinematics-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeForwardKinematicsDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a872e7af22fc1e5898fb44dcda16689d0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicHessians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5cd2216bda4d2de1b13686c18ea1dce6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicHessians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a82575f33d28daf5611b5a517b15a5bcf</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6e343bd350c297bfee2ad85a7156cca0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a08148943b4333338e159121d68b96321</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut5 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointKinematicHessian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8b20ddbfb94f65aa3b24cc8361d67210</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor&lt; Scalar, 3, Options &gt; &amp;kinematic_hessian)</arglist>
    </member>
    <member kind="function">
      <type>Tensor&lt; Scalar, 3, Options &gt;</type>
      <name>getJointKinematicHessian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a024e768162b4e65d81e8ab5108cbee96</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex joint_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointVelocityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa6f12ecbc9b65061a002d056c6369497</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>kinematics-derivatives.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>kinematics-derivatives_8py</filename>
    <namespace>kinematics-derivatives</namespace>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>af0b392bc698cad13dbb81db9f93b67f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_da</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a0213bab410d264bcc2cb2504194365ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_da_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a8b194877340e96649a2ba19626ee4ab1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dq</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>ab17ecc258348c2fb15d770ba12b402f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dq_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a172e0b5bc41431b6a2c526f6e9190c8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dv</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a31de0b3af4bf085e16fcba46d7fbe78a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dv_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>aa66a17deea08b9e5c16959068ef2b14d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>af0373955294f182e5e1e5abd72a4310e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dq</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a7f7ba546aae2c526dcbedd6330998ecb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dq_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a78977a42ad9dc2f6255e730fdd7e0ca2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dv</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a4e214cfa5168c0853cc266d353031e1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dv_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a62ece6722503774a63d5746abe1e3134</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_id</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>aa5ebf5590c6db646a32c07832b8e5984</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>joint_name</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a2f2c76712b4d32e34905c401f849d9a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lowerPositionLimit</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a217c298eaeff85da72bfca79b1be09fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a4332f5a7a8a0212005b769c3f16e6ab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>af0500b0ba682cb0386b3b946f8dd3884</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>upperPositionLimit</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a7f2e65f080ae108c3c5692354645668c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a3b9f47f0c257ea3e6991576b98983d24</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>kinematics.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>kinematics_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>a943956dc57a45f698c473cc93e864bd6</anchor>
      <arglist>(test_kinematics_constant_vector_input)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>a53cac4ed92f66f748f89c6492a1f790b</anchor>
      <arglist>(test_kinematics_zero)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>a6bea0e23c2f00472a881d3bdcc38b563</anchor>
      <arglist>(test_kinematics_first)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>a2657f8abcdbbd1775b67bdbffc96a892</anchor>
      <arglist>(test_kinematics_second)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>aefa80d8fb25b4597eedeb0e01e38e274</anchor>
      <arglist>(test_get_velocity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>a4a2345f3a4e38a2c1c8d0fe85f4e8b9b</anchor>
      <arglist>(test_get_acceleration)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>aa4aa062c00795ebffc976d8013f28c70</anchor>
      <arglist>(test_get_classical_acceleration)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>kinematics_8cpp.html</anchorfile>
      <anchor>adb8b102996c5a2dd2f51e0d25a0796c6</anchor>
      <arglist>(test_kinematic_getters)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>kinematics.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>kinematics_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97be7e9cd332a591b1431e30bab2c51e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5c8fc7279a9bccdcad61964d8468b49d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a601f17282020e4bb7d3e6f72b934fbe4</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac2bc0220c3f01683a8aa6e43abae26ca</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getClassicalAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6197dd2be2d2daf053f661fb6689a0d7</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getVelocity</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abedac3ea5f422c09d6ce4ff52394b644</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGlobalPlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad57a36f3b7587d1615358e34f66bdbee</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>lambdas.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/derivative/</path>
    <filename>lambdas_8py</filename>
    <class kind="class">lambdas::ancestorOf</class>
    <namespace>lambdas</namespace>
    <member kind="function">
      <type>def</type>
      <name>jFromIdx</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a325345afd28c0a45f5aa7e599b340894</anchor>
      <arglist>(idxv, robot)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>np_prettyprint</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a1bdf825ef4552a94e224c9bf57a862c0</anchor>
      <arglist>(sarg=&apos;{:0.5f}&apos;, eps=5e-7)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setRobotArgs</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a30cef30efe09b94c121dccb7a521d879</anchor>
      <arglist>(robot)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>__doc__</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a238586ddc4f4b35d698d9a8841be86bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>adj</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a45f246cd70fff34da972309a67ac7821</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>adjdual</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ac9549673e45c42b2105625c487bbbe28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>ancestors</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ae41a640e1badcbca9b7675d8ddc775ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>descendants</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a60e9153cb28ad4f1418c2b5921ca161a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Fcross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ab9c80cc24096eeef438f9021de7d60c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>FCross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ab71f25d542a8d777d1c8024175acf0d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>iv</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a6dca6fcce548bc928f3cda132de521d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mcross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>abff124d09312aa24c79aa34a2936fc77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>MCross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a4addb7316b64febf9a214ca489088c8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parent</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a9ceb301fea2cc0670e45427cf44c5a83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>quad</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a14400ff1cc2e31261303a25f88933c4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>td</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>adcbbbabbd0e15dd3d77cc6f98d06ae7f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/_unittests/cpp/src/lib.cc</name>
    <path>/tmp/ws/src/pinocchio/cmake/_unittests/cpp/src/</path>
    <filename>cmake_2__unittests_2cpp_2src_2lib_8cc</filename>
    <member kind="function">
      <type>void</type>
      <name>lib_function</name>
      <anchorfile>cmake_2__unittests_2cpp_2src_2lib_8cc.html</anchorfile>
      <anchor>aeda3209e7125aae5dbd02a20a5668105</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/_unittests/cpp/src/lib.cc</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/_unittests/cpp/src/</path>
    <filename>models_2example-robot-data_2cmake_2__unittests_2cpp_2src_2lib_8cc</filename>
    <member kind="function">
      <type>void</type>
      <name>lib_function</name>
      <anchorfile>models_2example-robot-data_2cmake_2__unittests_2cpp_2src_2lib_8cc.html</anchorfile>
      <anchor>aeda3209e7125aae5dbd02a20a5668105</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/_unittests/cpp/include/jrl_cmakemodule/lib.hh</name>
    <path>/tmp/ws/src/pinocchio/cmake/_unittests/cpp/include/jrl_cmakemodule/</path>
    <filename>cmake_2__unittests_2cpp_2include_2jrl__cmakemodule_2lib_8hh</filename>
    <member kind="function">
      <type>void</type>
      <name>lib_function</name>
      <anchorfile>cmake_2__unittests_2cpp_2include_2jrl__cmakemodule_2lib_8hh.html</anchorfile>
      <anchor>aeda3209e7125aae5dbd02a20a5668105</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/_unittests/cpp/include/jrl_cmakemodule/lib.hh</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/_unittests/cpp/include/jrl_cmakemodule/</path>
    <filename>models_2example-robot-data_2cmake_2__unittests_2cpp_2include_2jrl__cmakemodule_2lib_8hh</filename>
    <member kind="function">
      <type>void</type>
      <name>lib_function</name>
      <anchorfile>models_2example-robot-data_2cmake_2__unittests_2cpp_2include_2jrl__cmakemodule_2lib_8hh.html</anchorfile>
      <anchor>aeda3209e7125aae5dbd02a20a5668105</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>liegroup-algo.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>liegroup-algo_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>liegroup-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>liegroup-base_8hpp</filename>
    <class kind="struct">pinocchio::LieGroupBase</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE</name>
      <anchorfile>liegroup-base_8hpp.html</anchorfile>
      <anchor>af4707107a2f4ebcfda5871c442a144de</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC</name>
      <anchorfile>liegroup-base_8hpp.html</anchorfile>
      <anchor>a4dd024cf47a6e0de311c09403e7b5aa9</anchor>
      <arglist>(Derived, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>liegroup-base_8hpp.html</anchorfile>
      <anchor>acf5053837a15af053f90a6556e0bcc53</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="enumvalue">
      <name>SELF</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a47afbc0d60a02f7ba04baa4c82e88125a6a369fef49acabfcda45b64235ee2fcf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>liegroup-collection.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>liegroup-collection_8hpp</filename>
    <class kind="struct">pinocchio::LieGroupCollectionDefaultTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>LieGroupCollectionDefaultTpl&lt; double &gt;</type>
      <name>LieGroupCollectionDefault</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6790c18797ce3dea26cbc666acb3a7d9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>liegroup-generic.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>liegroup-generic_8hpp</filename>
    <class kind="struct">pinocchio::LieGroupGenericTpl</class>
    <class kind="struct">pinocchio::LieGroupGenericTpl</class>
    <class kind="struct">pinocchio::traits&lt; LieGroupGenericTpl&lt; LieGroupCollection &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>liegroup-variant-visitors.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>liegroup-variant-visitors_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>add023617cfb8257e520c9d2e42919bec</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afebd9d0305f3e5b85a5534be9d39d461</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97133433e4815627be9a3733138b6664</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3eebe5e3abebf92ffdca1dcc548cfcbd</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a71a74436e2285780be0a28b3bb865970</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6b94b0b73a09c7a4892ad7690187326</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a55e1ca54b4b6b46a58e8e44225533514</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad74f718d8adeb17a05240564a3e97c61</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a71ce453cd9d8159be5e953690e3afa66</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>ConfigL_t::Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a87057785108d614b6e36aa8a209dfd0d</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a287574ae016b5828cd9ce36d3824770e</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5984eb6bb6e93b9f87e920b1f4f4e842</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const typename ConfigL_t::Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5bcc015c9e8c85e4fbec976a22e287cb</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const typename Config_t::Scalar &amp;prec=Eigen::NumTraits&lt; typename Config_t::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a61dfad4db26e7d7ea6dea206d88c446e</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const typename ConfigL_t::Scalar &amp;prec)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab233aae353b5732efdb8208e99c0ee32</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options &gt;</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aaecd045e49ac75aeffcf7df22b156274</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab69e7a7163781fb2db581982552579f8</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a11034b5c7479bf0a48edb625df818e13</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0b8dbab230f00794ed4b88f5a4602850</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a74a192c511a1c006955758486d4369c7</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97d16d606dd5552522fe76132bf517c1</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>ConfigL_t::Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a127952688b094fcb1e2f7ee6e0e1c100</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>liegroup.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>liegroup_8hpp</filename>
    <class kind="struct">pinocchio::LieGroup</class>
    <class kind="struct">pinocchio::LieGroupMap</class>
    <class kind="struct">pinocchio::LieGroupMap::operation</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>liegroups.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>liegroups_8cpp</filename>
    <class kind="struct">LieGroup_Jdifference</class>
    <class kind="struct">LieGroup_Jintegrate</class>
    <class kind="struct">LieGroup_JintegrateCoeffWise</class>
    <class kind="struct">LieGroup_JintegrateJdifference</class>
    <class kind="struct">TestJoint</class>
    <class kind="struct">TestLieGroupVariantVisitor</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>EIGEN_MATRIX_IS_APPROX</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a0416f1588aa696c5989e498ae5f78bfe</anchor>
      <arglist>(Va, Vb, precision)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>EIGEN_VECTOR_IS_APPROX</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>ad546dc2fcc245496849f7e479651b298</anchor>
      <arglist>(Va, Vb, precision)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IFVERBOSE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a97d3ecdcc62a2a3f81c3a287509857cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>VERBOSE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a42f8c497a1968074f38bf5055c650dca</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a3e37a8e2923b8482c43bf778da4f3092</anchor>
      <arglist>(test_all)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>af91b63538378af926b081bb1b913c654</anchor>
      <arglist>(Jdifference)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>ae27626929388ba7b713050134a2e507f</anchor>
      <arglist>(Jintegrate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a649f3a894b657b4eb2b47b5556203a32</anchor>
      <arglist>(Jintegrate_Jdifference)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a29942ad01bd7576f27f8c1ecf7d45acc</anchor>
      <arglist>(JintegrateCoeffWise)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>ab31cfb2d774c23fa2a0506e6aac69219</anchor>
      <arglist>(test_vector_space)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a54b037c9488f7785cd7fb33bbf187256</anchor>
      <arglist>(test_size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a64b6e34bed3669124b7e5ea7a83752f3</anchor>
      <arglist>(test_dim_computation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a6c3f38b0b421518558ec02ffb352d3e4</anchor>
      <arglist>(small_distance_test)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a257d4f71b7327df609b10b4f5ca0eef0</anchor>
      <arglist>(test_liegroup_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>aaf9a473076cff721ed5ee5e9ecac1ab7</anchor>
      <arglist>(test_liegroup_variant_comparison)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adbd58b2950987bc65a8a231a447c9b98</anchor>
      <arglist>(std::ostream &amp;os, const LieGroupBase&lt; Derived &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42310f5cbb5cff13eecc50b4c5789969</anchor>
      <arglist>(std::ostream &amp;os, const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_lie_group_methods</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>acd010c688c24cff68b07295b56e482df</anchor>
      <arglist>(T &amp;jmodel, typename T::JointDataDerived &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_liegroup_variant_equal</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>a4b4766c4b42f3b905557bd863143d842</anchor>
      <arglist>(Lg1 lg1, Lg2 lg2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>test_liegroup_variant_not_equal</name>
      <anchorfile>liegroups_8cpp.html</anchorfile>
      <anchor>abd9d2d4c4e1ee7ee259b4aabd5be4e04</anchor>
      <arglist>(Lg1 lg1, Lg2 lg2)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>liegroups.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>liegroups_8hpp</filename>
    <class kind="struct">pinocchio::python::LieGroupPythonVisitor</class>
    <class kind="struct">pinocchio::python::LieGroupWrapperTpl</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>list.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>list_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>extract</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab9c4cc26bcf54a0ed0a60188813acfdd</anchor>
      <arglist>(const boost::python::list &amp;list, std::vector&lt; T, Allocator &gt; &amp;vec)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; T, std::allocator&lt; T &gt; &gt;</type>
      <name>extract</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae9eddbc84c64fdb116db59481ef5c061</anchor>
      <arglist>(const boost::python::list &amp;list)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; T, Allocator &gt;</type>
      <name>extract</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a87485f0ae181118e3eaa2ac129f9ca56</anchor>
      <arglist>(const boost::python::list &amp;list)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>load_urdf.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/packaging/</path>
    <filename>load__urdf_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>load__urdf_8cpp.html</anchorfile>
      <anchor>a2c3f6775325c30275d11c6abee2db6a0</anchor>
      <arglist>(int, char **)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>log.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>log_8hpp</filename>
    <class kind="struct">pinocchio::Jlog3_impl</class>
    <class kind="struct">pinocchio::Jlog6_impl</class>
    <class kind="struct">pinocchio::log3_impl</class>
    <class kind="struct">pinocchio::log6_impl</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>macros.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>macros_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>macros_8cpp.html</anchorfile>
      <anchor>acebcdaeb8f71342f8c9cc10b574e2a61</anchor>
      <arglist>(test_check_arguments)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check_exception_msg</name>
      <anchorfile>macros_8cpp.html</anchorfile>
      <anchor>a47c6a88a0b1299ad22617f0f67868116</anchor>
      <arglist>(const std::exception &amp;exception)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>function_1</name>
      <anchorfile>macros_8cpp.html</anchorfile>
      <anchor>a236f20e9260367edbf494e3df97e6df8</anchor>
      <arglist>(std::vector&lt; int &gt; v, size_t size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>function_2</name>
      <anchorfile>macros_8cpp.html</anchorfile>
      <anchor>a9b82b939d499215dd8238c4f3f6c6dce</anchor>
      <arglist>(std::vector&lt; int &gt; v, size_t size)</arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>expected_msg</name>
      <anchorfile>macros_8cpp.html</anchorfile>
      <anchor>a38bab30668c44b010ee4ef469d0ff12a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/macros.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/</path>
    <filename>src_2macros_8hpp</filename>
    <class kind="struct">pinocchio::helper::argument_type</class>
    <class kind="struct">pinocchio::helper::argument_type&lt; T(U)&gt;</class>
    <class kind="struct">pinocchio::helper::handle_return_type_without_typename</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::helper</namespace>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_CHECK_ARGUMENT_SIZE_1</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>af441f94172a0c1463d59ecdd66497b1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_CHECK_ARGUMENT_SIZE_2</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a5796526513b05f308e92b74d0009d74a</anchor>
      <arglist>(size, expected_size)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_CHECK_ARGUMENT_SIZE_3</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>ac7eae7d56f0601ffce69911c076d5079</anchor>
      <arglist>(size, expected_size, message)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_CHECK_INPUT_ARGUMENT_0</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a6e0010b221d4538f84de3f034217d4ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_CHECK_INPUT_ARGUMENT_1</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>aaa8a44a5d9d910ff9253a19fb57016e8</anchor>
      <arglist>(condition)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_CHECK_INPUT_ARGUMENT_2</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>ac7d3b6d02fbbd02c7343bf0af872c5e8</anchor>
      <arglist>(condition, message)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_EXPAND</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>ada194938409d4f5b179f259b58936bab</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a5f0ef43c796e91be4ae2c96ffbe2c6fd</anchor>
      <arglist>(_1, _2, _3, MACRO_NAME,...)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>adb121a5b55e75d717619907c12896402</anchor>
      <arglist>(_1, _2, MACRO_NAME,...)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a0ec85b49171851a44e0100f54da8b2ea</anchor>
      <arglist>(type, M, nrows, ncols)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_CHECK_ARGUMENT_SIZE</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a6c10274c50de631f6f29fe1baae9e34c</anchor>
      <arglist>(...)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_CHECK_INPUT_ARGUMENT</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>adc1c147382e4e1a684b221cba319f7c2</anchor>
      <arglist>(...)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a807e2350846918ddc49b8387898d3e6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_COMPILER_DIAGNOSTIC_POP</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>af1e53574d1cce571f919a33f202b75a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>af3360768766b29287b25335625bb9ea9</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MACRO_EMPTY_ARG</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>ae088a950dfc6faadf7077b389a356704</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_NOT_A_MACRO</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>af7dfce0daeec953f173e6afb44ac0a97</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_STATIC_ASSERT</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>ae170d6bb9f60b3436e5fa5027dfcb228</anchor>
      <arglist>(condition, msg)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_STRING_LITERAL</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>a0a38321a1a16c8fa967362f4029acb53</anchor>
      <arglist>(string)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_THROW</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>ae0e333c4e4b57471878d03ac9d2fd0a0</anchor>
      <arglist>(condition, exception_type, message)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_UNUSED_VARIABLE</name>
      <anchorfile>src_2macros_8hpp.html</anchorfile>
      <anchor>af4f534ac81ee9db2689e4f9ea784d597</anchor>
      <arglist>(var)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/utils/macros.hpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/utils/</path>
    <filename>unittest_2utils_2macros_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>cmake/_unittests/cpp/src/main.cc</name>
    <path>/tmp/ws/src/pinocchio/cmake/_unittests/cpp/src/</path>
    <filename>cmake_2__unittests_2cpp_2src_2main_8cc</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>cmake_2__unittests_2cpp_2src_2main_8cc.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/_unittests/cpp/src/main.cc</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/_unittests/cpp/src/</path>
    <filename>models_2example-robot-data_2cmake_2__unittests_2cpp_2src_2main_8cc</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>models_2example-robot-data_2cmake_2__unittests_2cpp_2src_2main_8cc.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>matrix-block.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>matrix-block_8hpp</filename>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::BlockReturn</class>
    <class kind="struct">pinocchio::SizeDepType::BlockReturn</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::ColsReturn</class>
    <class kind="struct">pinocchio::SizeDepType::ColsReturn</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::RowsReturn</class>
    <class kind="struct">pinocchio::SizeDepType::RowsReturn</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::SegmentReturn</class>
    <class kind="struct">pinocchio::SizeDepType::SegmentReturn</class>
    <class kind="struct">pinocchio::SizeDepType</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>autodiff/casadi/math/matrix.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/casadi/math/</path>
    <filename>autodiff_2casadi_2math_2matrix_8hpp</filename>
    <class kind="struct">pinocchio::internal::CallCorrectMatrixInverseAccordingToScalar&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>math/matrix.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>math_2matrix_8hpp</filename>
    <class kind="struct">pinocchio::internal::CallCorrectMatrixInverseAccordingToScalar</class>
    <class kind="struct">pinocchio::internal::isNormalizedAlgo</class>
    <class kind="struct">pinocchio::internal::isNormalizedAlgo&lt; VectorLike, false &gt;</class>
    <class kind="struct">pinocchio::internal::isUnitaryAlgo</class>
    <class kind="struct">pinocchio::internal::isUnitaryAlgo&lt; MatrixLike, false &gt;</class>
    <class kind="struct">pinocchio::internal::isZeroAlgo</class>
    <class kind="struct">pinocchio::internal::isZeroAlgo&lt; MatrixLike, false &gt;</class>
    <class kind="struct">pinocchio::MatrixMatrixProduct</class>
    <class kind="struct">pinocchio::MatrixScalarProduct</class>
    <class kind="struct">pinocchio::ScalarMatrixProduct</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
    <member kind="function">
      <type>bool</type>
      <name>hasNaN</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7d07811c6255729f297f9a53fecde917</anchor>
      <arglist>(const Eigen::DenseBase&lt; Derived &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a53f0b60b38c4fe35b4c5739dcc5eb814</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixIn &gt; &amp;m_in, const Eigen::MatrixBase&lt; MatrixOut &gt; &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1b849ca7bd978fba0d8c77646f3af067</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vec, const typename VectorLike::RealScalar &amp;prec=Eigen::NumTraits&lt; typename VectorLike::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isUnitary</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a45b9b401eda2fca0e3df1d0dfb876551</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;mat, const typename MatrixLike::RealScalar &amp;prec=Eigen::NumTraits&lt; typename MatrixLike::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aea6a960ac8fc65e2bfd353eb7521a5e9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;m, const typename MatrixLike::RealScalar &amp;prec=Eigen::NumTraits&lt; typename MatrixLike::Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>meshcat-viewer-dae.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>meshcat-viewer-dae_8py</filename>
    <namespace>meshcat-viewer-dae</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a53c9b20f02687cbd9d853b474193a3f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>aa3fbdc84208af2f53b59c84cbac529ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a5ab3d06c586e067466d2bbfcae479b60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshScale</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a2003a05fca57889090f625ccbc7afb7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a893987cacd5a197c197159bec2c8ade7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ac1fbe3e1a03acbe7e5308f045d9ce494</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>afeed1fde45880c1649f93efa1a48fd86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>aac984fc8a9dbfc83f0cd04aa3999e123</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>aef42c42200b8fc66e2e75dcccf70bf4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ab86eb1209c0b837ed583da0240459aa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>red_robot_viz</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a3c82af5e027cb3e05ed1b2a4d844ee9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ae671324714df6d2fc8e75e07ee1af837</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>af7cebc286fd3290af2ab9797e3a874f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ab1d612b176d2ff49bcaea42da27091cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a78a1a505e78a59d60baaab74cb4c1006</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a3be25a4798d3a3d167fb3e289ac423a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ad9b5413be874e181292d40871baa311f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>meshcat-viewer.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>meshcat-viewer_8py</filename>
    <namespace>meshcat-viewer</namespace>
    <member kind="function">
      <type>def</type>
      <name>my_callback</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a0aa221830b848877f847000643bd9ea1</anchor>
      <arglist>(i, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>sim_loop</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>aa5fbe795834d5681d0b56a76a0923884</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>callback</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a86833999228e2c5eec3ffd4f844f5ec6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a853009e23779c9e6aba5480ae5594e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>convex</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a5d953a14e80d697bbd11baee448ffd60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>acc5b2bc6ca969667330854f9e5d2401d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a9621249de2820b1e706f91c92c05eaac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fid2</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a42dfc255ec4bdf5e3d09371fd6386e7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a9bbf4c93c61404c15dfb6366c34ea7f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometry</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>af511510858766f9de12cedd52a545355</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a5f068d5001715fb2ea3065d9d3b9db94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ab8cbbfd4f1a82770e23d188e31ef44c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a5f1d7bb519eb51c1f4fdecedfef8e300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a870ac4311365a35a47ae7e85f983872b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>afa2a384039dd1e8bfd5129ae2177ffe8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>aa007aaf3d7ed30dbd0fb5f857d53ff6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a1a01145e0ba4595ebf146f02f1c46618</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a79da7fb0f8d920054dae40528820cd77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a7b3b5f09d6bfba166f34dbc46f672313</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a0308db501bc72c72f308ed28b1bb625c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q1</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a461b177afa02170402974b7945a0ee09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qs</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ac27faec606cc3d69c2f902bcc3e7d8f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ae61aadfcffbf784762bb68c6d582fce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a4195f62a15c6549a00f73bfb784071d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ae5eb38c88c5226353034a45b019e1edc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>v0</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>aeaca26e4ad3fc0e26ab7fe80423f8d2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>affbdc2f4de78dada32ad530e8ed8dcd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a8dc7c7b9f372685e52a4c713ce5d6d9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz2</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a4583a9e0262f59e194eb13ce527b2418</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>meshcat_visualizer.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/visualize/</path>
    <filename>meshcat__visualizer_8py</filename>
    <class kind="class">pinocchio::visualize::meshcat_visualizer::MeshcatVisualizer</class>
    <namespace>pinocchio::visualize::meshcat_visualizer</namespace>
    <member kind="function">
      <type>def</type>
      <name>createCapsule</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a0f6d9ff0136735065207aa47eed585c5</anchor>
      <arglist>(length, radius, radial_resolution=30, cap_resolution=10)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>isMesh</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a7844368b96c05ea19020d6032de53a9a</anchor>
      <arglist>(geometry_object)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadMesh</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>aba72d6d004b77f4b9560b281f4f07634</anchor>
      <arglist>(mesh)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadPrimitive</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a5acf6328bf261204ad35f164912e0d15</anchor>
      <arglist>(geometry_object)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a5f06e2e2ccc85331efdacbc2eb434b53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>COLOR_PRESETS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a610bdfe9df942f455bc37664b6c03bb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>DEFAULT_COLOR_PROFILES</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>aae23fd25b4a13c2bb36065a5b37fcbe9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>ac8f20fd19c781c5ce5087ae41a3539f9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>mobilerobot.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>mobilerobot_8py</filename>
    <class kind="class">mobilerobot::MobileRobotWrapper</class>
    <namespace>mobilerobot</namespace>
  </compound>
  <compound kind="file">
    <name>model-generator.hpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/utils/</path>
    <filename>model-generator_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b667ecd96e61f691841f83d495def04</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildAllJointsModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9f7237e34e3079213d4de54dabacae43</anchor>
      <arglist>(Model &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/python/model.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/python/</path>
    <filename>bindings_2python_2parsers_2python_2model_8cpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Model</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1c3232d624b8c2c88f0cc6771e395174</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;var_name=&quot;model&quot;)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/urdf/model.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/urdf/</path>
    <filename>bindings_2python_2parsers_2urdf_2model_8cpp</filename>
    <includes id="bindings_2python_2parsers_2urdf_8hpp" name="bindings/python/parsers/urdf.hpp" local="yes" imported="no">pinocchio/bindings/python/parsers/urdf.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af508962ea76ff09635b7d2473f2f9020</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/parsers/urdf/model.cpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/urdf/</path>
    <filename>src_2parsers_2urdf_2model_8cpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::urdf</namespace>
    <namespace>pinocchio::urdf::details</namespace>
    <member kind="function" static="yes">
      <type>static Inertia</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a2c97b515a2c45795cc874483c4452f95</anchor>
      <arglist>(const ::urdf::Inertial &amp;Y)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Inertia</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a87ef054d32c65024424166a97579a335</anchor>
      <arglist>(const ::urdf::InertialSharedPtr &amp;Y)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static FrameIndex</type>
      <name>getParentLinkFrame</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a0b2b677498340d98c4f91f97db65bc44</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseRootTree</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a364334e12270bc269db430a84ab678ae</anchor>
      <arglist>(const ::urdf::ModelInterface *urdfTree, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseRootTree</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>afaa580b9104495c0beab2b7b814cd29a</anchor>
      <arglist>(const std::string &amp;filename, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseRootTreeFromXML</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a9841136c244f381172e1d7749766c2df</anchor>
      <arglist>(const std::string &amp;xmlString, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseTree</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a94efe9c89a08f297a81dd9dbb82807cb</anchor>
      <arglist>(::urdf::LinkConstSharedPtr link, UrdfVisitorBase &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/model.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2model_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a3effc3d24267d23e258a25828d44403d</anchor>
      <arglist>(test_model_subtree)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a041b0b0955656e6d6f9009abb50ef8a4</anchor>
      <arglist>(test_model_get_frame_id)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a7eecc71463747e94577446ee465436e0</anchor>
      <arglist>(test_model_support)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>aa37b470f93f604fe92ea83ec9ea5f612</anchor>
      <arglist>(test_model_subspace_dimensions)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a761c389e408a7bec5220199eecf5e364</anchor>
      <arglist>(comparison)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a786be6ac48d63877e768c68f326114f4</anchor>
      <arglist>(cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>afaf0f0871e2edd0288d665ae9d2edc1b</anchor>
      <arglist>(test_std_vector_of_Model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a2c13e29afca55c0e87b6b9c0decf0ba7</anchor>
      <arglist>(test_buildReducedModel_empty)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a35aeee76a496e37f2d996c49d54aad90</anchor>
      <arglist>(test_buildReducedModel)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a89e9436dbc060f06666462154fef4e59</anchor>
      <arglist>(test_aligned_vector_of_model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2model_8cpp.html</anchorfile>
      <anchor>a6405455a8c91fe01cd3333482c541927</anchor>
      <arglist>(test_has_configuration_limit)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/multibody/model.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/</path>
    <filename>bindings_2python_2multibody_2model_8hpp</filename>
    <includes id="bindings_2python_2serialization_2serializable_8hpp" name="bindings/python/serialization/serializable.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serializable.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="std-map_8hpp" name="std-map.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-map.hpp</includes>
    <includes id="pickle-map_8hpp" name="pickle-map.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/pickle-map.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <class kind="struct">pinocchio::python::ModelPythonVisitor</class>
    <class kind="struct">pinocchio::python::PickleModel</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/multibody/pool/model.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/pool/</path>
    <filename>bindings_2python_2multibody_2pool_2model_8hpp</filename>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <class kind="struct">pinocchio::python::ModelPoolPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/algorithm/model.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>src_2algorithm_2model_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>appendModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5c448b893a005838e49ba59d4fcc9b4a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>appendModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adaab216584356df0b10886d5ec099106</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aec3e3ad5a61d7cce8384b533e51233fe</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const GeometryModel &amp;geomModelA, const GeometryModel &amp;geomModelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, GeometryModel &amp;geomModel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa1d1385282ca1ab240416d6312fe5012</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, std::vector&lt; JointIndex &gt; list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;reduced_model)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3d3da4bd95ec1681cfafd53ca44cf224</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac7783099feeca05cd34e93bc3db8f727</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const GeometryModel &amp;geom_model, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;reduced_model, GeometryModel &amp;reduced_geom_model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab1d9546bcc1abace31c3d6aab20a4932</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::vector&lt; GeometryModel, GeometryModelAllocator &gt; &amp;list_of_geom_models, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;reduced_model, std::vector&lt; GeometryModel, GeometryModelAllocator &gt; &amp;list_of_reduced_geom_models)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/multibody/model.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>src_2multibody_2model_8hpp</filename>
    <class kind="struct">pinocchio::ModelTpl</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>src/multibody/pool/model.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/pool/</path>
    <filename>src_2multibody_2pool_2model_8hpp</filename>
    <class kind="class">pinocchio::ModelPoolTpl</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>ModelPoolTpl&lt; double, 0, JointCollectionDefaultTpl &gt;</type>
      <name>ModelPool</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9622733c6ab063d402677ffaf5427a1d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/serialization/model.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2model_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a90d6bce25c704a4dcd2382da978ee6a4</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>module.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/</path>
    <filename>module_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2utils_2version_8hpp" name="bindings/python/utils/version.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/version.hpp</includes>
    <includes id="dependencies_8hpp" name="dependencies.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/dependencies.hpp</includes>
    <includes id="conversions_8hpp" name="conversions.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/conversions.hpp</includes>
    <includes id="registration_8hpp" name="registration.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/registration.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_MODULE</name>
      <anchorfile>module_8cpp.html</anchorfile>
      <anchor>a1995eb668c8df0094feb93702abbe674</anchor>
      <arglist>(pinocchio_pywrap)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>motion-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>motion-base_8hpp</filename>
    <class kind="class">pinocchio::MotionBase</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionDerived, typename MotionDerived::Scalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a26795a7dc3413be931b947cfe99519fd</anchor>
      <arglist>(const typename MotionDerived::Scalar &amp;alpha, const MotionBase&lt; MotionDerived &gt; &amp;motion)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>motion-dense.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>motion-dense_8hpp</filename>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionDense&lt; Derived &gt;, MotionDerived &gt;</class>
    <class kind="class">pinocchio::MotionDense</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionDense&lt; Derived &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>traits&lt; M1 &gt;::MotionPlain</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab470393ce0489be00b57d6f6816cb297</anchor>
      <arglist>(const typename traits&lt; M1 &gt;::Scalar alpha, const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>traits&lt; M1 &gt;::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a367b548b411d8bf0199892b46ddd5d93</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v1, const MotionDense&lt; M2 &gt; &amp;v2)</arglist>
    </member>
    <member kind="function">
      <type>traits&lt; F1 &gt;::ForcePlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a215af978033cb85eade7cca6f4abe863</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>motion-ref.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>motion-ref_8hpp</filename>
    <class kind="struct">pinocchio::internal::LHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionRef&lt; Vector6ArgType &gt;, MotionDerived &gt;</class>
    <class kind="class">pinocchio::MotionRef</class>
    <class kind="class">pinocchio::MotionRef&lt; const Vector6ArgType &gt;</class>
    <class kind="struct">pinocchio::internal::RHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>motion-tpl.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>motion-tpl_8hpp</filename>
    <class kind="class">pinocchio::MotionTpl</class>
    <class kind="struct">pinocchio::traits&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>motion-zero.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>motion-zero_8hpp</filename>
    <class kind="struct">pinocchio::BiasZeroTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; BiasZeroTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionZeroTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionZeroTpl</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; BiasZeroTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionZeroTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>const M1 &amp;</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a74c8f40ecccc79da11a0b2e43dd255d6</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v, const MotionZeroTpl&lt; Scalar, Options &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>const M1 &amp;</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3cf330635d5b642af24c5f092ddcaaaa</anchor>
      <arglist>(const MotionZeroTpl&lt; Scalar, Options &gt; &amp;, const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/spatial/motion.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>bindings_2python_2spatial_2motion_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::call</class>
    <class kind="struct">pinocchio::python::call&lt; MotionTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::MotionPythonVisitor</class>
    <class kind="struct">pinocchio::python::MotionPythonVisitor::Pickle</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/motion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2motion_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a233e65255eff940e5c56fa8c8167de01</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a295a38b793d743ba9dec69af0553bf59</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::MotionTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7e0f285fe42f6fd980408595f721fd0f</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a1095f05332e27f9265378e71dd3bec1b</anchor>
      <arglist>(Archive &amp;, pinocchio::MotionZeroTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/spatial/motion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>src_2spatial_2motion_8hpp</filename>
    <class kind="struct">pinocchio::MotionAlgebraAction</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>MOTION_TYPEDEF</name>
      <anchorfile>src_2spatial_2motion_8hpp.html</anchorfile>
      <anchor>aa1adfd21e78ccb200e695a23befce740</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MOTION_TYPEDEF_GENERIC</name>
      <anchorfile>src_2spatial_2motion_8hpp.html</anchorfile>
      <anchor>a103341d4734d0b00fe614b96ba24876c</anchor>
      <arglist>(Derived, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>src_2spatial_2motion_8hpp.html</anchorfile>
      <anchor>ab76015d35eb7d466bbdb399df5992175</anchor>
      <arglist>(Derived)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multiprecision-mpfr.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>multiprecision-mpfr_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_CHECK_IS_APPROX</name>
      <anchorfile>multiprecision-mpfr_8cpp.html</anchorfile>
      <anchor>a051bb7abf23eafd75f4a041d5d99a12e</anchor>
      <arglist>(double_field, multires_field, Scalar)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>multiprecision-mpfr_8cpp.html</anchorfile>
      <anchor>a54254c4953def431e744e375e42abc68</anchor>
      <arglist>(test_basic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>multiprecision-mpfr_8cpp.html</anchorfile>
      <anchor>ab788042a632f7bd5afca1d839c5155b7</anchor>
      <arglist>(test_sincos)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>multiprecision-mpfr_8cpp.html</anchorfile>
      <anchor>a58c86606c70ba2dbf9f089c54e4b543f</anchor>
      <arglist>(test_cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>multiprecision-mpfr_8cpp.html</anchorfile>
      <anchor>ab937fda81b9861883da4d8ee8df786c1</anchor>
      <arglist>(test_mutliprecision)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multiprecision-mpfr.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>multiprecision-mpfr_8hpp</filename>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; X_digits10, X_alloc &gt;, X_et &gt;, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; S_digits10, S_alloc &gt;, S_et &gt;, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; C_digits10, C_alloc &gt;, C_et &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>examples/multiprecision.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>examples_2multiprecision_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>examples_2multiprecision_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>examples_2multiprecision_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/multiprecision.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2multiprecision_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_CHECK_IS_APPROX</name>
      <anchorfile>unittest_2multiprecision_8cpp.html</anchorfile>
      <anchor>a051bb7abf23eafd75f4a041d5d99a12e</anchor>
      <arglist>(double_field, multires_field, Scalar)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2multiprecision_8cpp.html</anchorfile>
      <anchor>a54254c4953def431e744e375e42abc68</anchor>
      <arglist>(test_basic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2multiprecision_8cpp.html</anchorfile>
      <anchor>a58c86606c70ba2dbf9f089c54e4b543f</anchor>
      <arglist>(test_cast)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2multiprecision_8cpp.html</anchorfile>
      <anchor>ab937fda81b9861883da4d8ee8df786c1</anchor>
      <arglist>(test_mutliprecision)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>multiprecision.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>multiprecision_8hpp</filename>
    <class kind="struct">Eigen::internal::cast_impl&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;, Scalar &gt;</class>
    <class kind="struct">Eigen::internal::conj_impl</class>
    <class kind="struct">Eigen::internal::conj_impl&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;, true &gt;</class>
    <class kind="struct">Eigen::internal::conj_retval</class>
    <class kind="struct">Eigen::internal::conj_retval&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</class>
    <class kind="struct">pinocchio::is_floating_point&lt; boost::multiprecision::number&lt; Backend, ET &gt; &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &gt;</class>
    <class kind="struct">Eigen::internal::scalar_product_traits&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;, boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &gt;</class>
    <class kind="struct">Eigen::internal::scalar_product_traits&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;, boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</class>
    <namespace>Eigen</namespace>
    <namespace>Eigen::internal</namespace>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>namespace.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>namespace_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>boost::python::object</type>
      <name>getOrCreatePythonNamespace</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6a37796f6adf511742a8249c538fdeef</anchor>
      <arglist>(const std::string &amp;submodule_name)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ocp.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>ocp_8py</filename>
    <class kind="class">ocp::CallBack</class>
    <namespace>ocp</namespace>
    <member kind="function">
      <type>def</type>
      <name>cost</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>aa873f949e07d95cf86eb390c50e50255</anchor>
      <arglist>(U)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a16d8cbe689587a94654e6b15c6f90346</anchor>
      <arglist>(U, verbose=False)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>approx_grad</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a4861b91b67e92b07c2780a3f4bbbd820</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>bounds</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a4ccd53981cefdd96b33ede76970e137a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>c</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a2e45065ac8dab4517d812b1eda0adf37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>callback</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a6aaf92d0c686837ff276fb996cf97bfd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cost</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>ae4410bc79ea88f347711fd498d1bb1ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a9cc0904cf5d86b95b21e9b777d2a273d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>info</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a6dc4698cc745d49c047bd3691f51d5bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a34d594f77bc3eeef339c89cd24a7fa78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>True</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a3950b6ad410bc5efed96a8ee8b265b62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a3959ba524282512093c2daab1152e223</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U0</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a2263b6e9949719722c876f6038296b51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x0</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a00e7f895a4a5b19041d2fd2fceb75f02</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/hpp/idl/omniidl_be_python_with_docstring.py</name>
    <path>/tmp/ws/src/pinocchio/cmake/hpp/idl/</path>
    <filename>cmake_2hpp_2idl_2omniidl__be__python__with__docstring_8py</filename>
    <namespace>omniidl_be_python_with_docstring</namespace>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_rreplace</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a00658253a6ea9db8c15734a6203df8d5</anchor>
      <arglist>(s, old, new, occurrence)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a4f20d940535423e21789e8f315cff827</anchor>
      <arglist>(tree, args)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/hpp/idl/omniidl_be_python_with_docstring.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/hpp/idl/</path>
    <filename>models_2example-robot-data_2cmake_2hpp_2idl_2omniidl__be__python__with__docstring_8py</filename>
    <namespace>omniidl_be_python_with_docstring</namespace>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_rreplace</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a00658253a6ea9db8c15734a6203df8d5</anchor>
      <arglist>(s, old, new, occurrence)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a4f20d940535423e21789e8f315cff827</anchor>
      <arglist>(tree, args)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>openmp.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>openmp_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>int</type>
      <name>getOpenMPNumThreadsEnv</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f50ff602d61fe3d31a960d2fcaff92b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>overview-lie.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>overview-lie_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>overview-lie_8cpp.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>overview-SE3.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>overview-SE3_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>overview-SE3_8cpp.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>overview-simple.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>overview-simple_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>overview-simple_8cpp.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>overview-simple.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>overview-simple_8py</filename>
    <namespace>overview-simple</namespace>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>ae569527cb2cad74a49330d7dcb23c726</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>acf570485e356d96d85b4901779d8e45a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>a1c8fea87d9e76ace589078e3ce0bfaa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>abb9c5682c9bfb37e0652df7ed381f43d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>ac23531b86b2aeb04a00e98a198de05c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>aba3ccc6ae3eb082b43bcd599bfa8ff3b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>overview-urdf.cpp</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>overview-urdf_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_MODEL_DIR</name>
      <anchorfile>overview-urdf_8cpp.html</anchorfile>
      <anchor>a68c0534ef8884aa246751f7da5b6353d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>overview-urdf_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>overview-urdf.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>overview-urdf_8py</filename>
    <namespace>overview-urdf</namespace>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a775eb8cca28b4cb4e4569826c21bdbe0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a4bc951dd53b1334fc9a2e671771497c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a80f304371f1046810ebe13c4d903a61a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a238fe607b500944f5674458871ed66b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a052d0c25fb8ab449cb5eafbdee8eb616</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>panda3d-viewer-play.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>panda3d-viewer-play_8py</filename>
    <namespace>panda3d-viewer-play</namespace>
    <member kind="function">
      <type>def</type>
      <name>play_sample_trajectory</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a8d99f1c1e55df6d952c8be9c2c2baef8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a64727fe6d2c88183b963cc134ef364fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>group_name</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a6a5cd867e8e3b0050553648d6ad3dcac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a7cb17d8f434e4c6b2318f5838809ce87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>talos</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>ac25f3a5df2b0c9e2f8fdf52dd7b780a2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>panda3d-viewer.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>panda3d-viewer_8py</filename>
    <namespace>panda3d-viewer</namespace>
    <member kind="variable">
      <type></type>
      <name>group_name</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>aba4c59faedd9acc86e66f9ac983bc848</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>loaders</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a9ee925783eb8f2a29292735a47cc2f64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a196d5cf878b57994211da3f9cdcda202</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a7ea81c365f6177f2e3c8850771fa4a5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a272197c37c8e8c831deb09ab9b1409e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>abcb8ce502697b70d86be3e02aa21f4ef</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>panda3d_visualizer.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/visualize/</path>
    <filename>panda3d__visualizer_8py</filename>
    <class kind="class">pinocchio::visualize::panda3d_visualizer::Panda3dVisualizer</class>
    <namespace>pinocchio::visualize::panda3d_visualizer</namespace>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1panda3d__visualizer.html</anchorfile>
      <anchor>a89f1edcea2acf3375c4590aa9d983e61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1panda3d__visualizer.html</anchorfile>
      <anchor>a83cbbe9878fece456421332245ab404d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>parallel-aba.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>parallel-aba_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>parallel-aba_8cpp.html</anchorfile>
      <anchor>adea36a6fdeb70953dc9695b938f0a6e5</anchor>
      <arglist>(test_parallel_aba)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>parallel-geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>parallel-geometry_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>parallel-geometry_8cpp.html</anchorfile>
      <anchor>a3de7271e00f2f5db6c33cb19ae8fc869</anchor>
      <arglist>(test_pool)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>parallel-geometry_8cpp.html</anchorfile>
      <anchor>ad54efc69e4102f7ccb1f41de48f221ba</anchor>
      <arglist>(test_talos)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>parallel-geometry_8cpp.html</anchorfile>
      <anchor>a7b9562dbfaa72489ca02087944335765</anchor>
      <arglist>(test_pool_talos)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>parallel-rnea.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>parallel-rnea_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>parallel-rnea_8cpp.html</anchorfile>
      <anchor>a4f40f07dc6f4308d716072f3c628c6f8</anchor>
      <arglist>(test_parallel_rnea)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pendulum.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>pendulum_8py</filename>
    <class kind="class">pendulum::Pendulum</class>
    <class kind="class">pendulum::Visual</class>
    <namespace>pendulum</namespace>
  </compound>
  <compound kind="file">
    <name>pickle-map.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>pickle-map_8hpp</filename>
    <class kind="struct">pinocchio::python::PickleMap</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>pickle-vector.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>pickle-vector_8hpp</filename>
    <class kind="struct">pinocchio::python::PickleVector</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>pinocchio_read_model.cpp</name>
    <path>/tmp/ws/src/pinocchio/utils/</path>
    <filename>pinocchio__read__model_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>pinocchio__read__model_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>usage</name>
      <anchorfile>pinocchio__read__model_8cpp.html</anchorfile>
      <anchor>a5d57fe85f73eb230fd44db77a4e11e69</anchor>
      <arglist>(const char *application_name)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>printable.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>printable_8hpp</filename>
    <class kind="struct">pinocchio::python::PrintableVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>prm_display.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>prm__display_8py</filename>
    <namespace>prm_display</namespace>
    <member kind="function">
      <type>def</type>
      <name>display_path</name>
      <anchorfile>namespaceprm__display.html</anchorfile>
      <anchor>aa3237555bfd3f0705489a72544759450</anchor>
      <arglist>(robot, path, sleeptime=1e-2)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display_prm</name>
      <anchorfile>namespaceprm__display.html</anchorfile>
      <anchor>a62e18052f571482da4530c1f1a2233d4</anchor>
      <arglist>(robot, graph)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pybind11-all.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/</path>
    <filename>pybind11-all_8hpp</filename>
    <includes id="pybind11_8hpp" name="pybind11.hpp" local="no" imported="no">pinocchio/bindings/python/pybind11.hpp</includes>
    <member kind="define">
      <type>#define</type>
      <name>_PINOCCHIO_PYBIND11_EXPOSE</name>
      <anchorfile>pybind11-all_8hpp.html</anchorfile>
      <anchor>a9cc125e6b7ce5040abe3f077f99904ad</anchor>
      <arglist>(type, name)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>_SINGLE_ARG</name>
      <anchorfile>pybind11-all_8hpp.html</anchorfile>
      <anchor>ac03e77758960f3c1f3a3458707c3aba9</anchor>
      <arglist>(...)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pybind11.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/</path>
    <filename>pybind11_8hpp</filename>
    <class kind="struct">pinocchio::python::internal::function_wrapper&lt; R(*)(Args...)&gt;::arg</class>
    <class kind="struct">pinocchio::python::convert_boost_python_object</class>
    <class kind="struct">pinocchio::python::convert_type</class>
    <class kind="struct">pinocchio::python::convert_type&lt; void &gt;</class>
    <class kind="struct">pinocchio::python::internal::function_wrapper</class>
    <class kind="struct">pinocchio::python::internal::function_wrapper&lt; R(*)(Args...)&gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <namespace>pinocchio::python::internal</namespace>
    <member kind="define">
      <type>#define</type>
      <name>_SINGLE_ARG</name>
      <anchorfile>pybind11_8hpp.html</anchorfile>
      <anchor>ac03e77758960f3c1f3a3458707c3aba9</anchor>
      <arglist>(...)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_PYBIND11_ADD_ALL_CONVERT_TYPE</name>
      <anchorfile>pybind11_8hpp.html</anchorfile>
      <anchor>ac4cd0c640b351911a225fe77bf1abc77</anchor>
      <arglist>(CLASS)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE</name>
      <anchorfile>pybind11_8hpp.html</anchorfile>
      <anchor>ab3c4672977f1a3eb5d8baab40aa49416</anchor>
      <arglist>(CLASS)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_PYBIND11_TYPE_CASTER</name>
      <anchorfile>pybind11_8hpp.html</anchorfile>
      <anchor>a113cb565f98f06b97cd3afa9465fae60</anchor>
      <arglist>(native_type, boost_python_name)</arglist>
    </member>
    <member kind="function">
      <type>auto</type>
      <name>call</name>
      <anchorfile>namespacepinocchio_1_1python_1_1internal.html</anchorfile>
      <anchor>a99d757f2560aae33aedf29b0a0f8bf17</anchor>
      <arglist>(R(*f)(Args...), typename convert_type&lt; Args &gt;::type... args)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>call</name>
      <anchorfile>namespacepinocchio_1_1python_1_1internal.html</anchorfile>
      <anchor>aab39d86d5b5cc409be4794269e5c7038</anchor>
      <arglist>(void(*f)(Args...), typename convert_type&lt; Args &gt;::type... args)</arglist>
    </member>
    <member kind="function">
      <type>py::object</type>
      <name>default_arg</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af9011e874b66a9b6709f6ecedc211aeb</anchor>
      <arglist>(T t)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType &amp;</type>
      <name>from</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a81c7afeb5071abd6c5f4928d7e7f56ff</anchor>
      <arglist>(py::handle model)</arglist>
    </member>
    <member kind="function">
      <type>internal::function_wrapper&lt; R(*)(Args...)&gt;</type>
      <name>make_pybind11_function</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a11d74f687ce9f851d9c3f0f3a200570b</anchor>
      <arglist>(R(*func)(Args...))</arglist>
    </member>
    <member kind="function">
      <type>py::object</type>
      <name>to</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9b9112af0749f253eeb287efd21ff0f9</anchor>
      <arglist>(T &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>py::object</type>
      <name>to</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a25ca8834a95b25604170833dca6bc8ab</anchor>
      <arglist>(T *t)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pyproject.py</name>
    <path>/tmp/ws/src/pinocchio/cmake/</path>
    <filename>pyproject_8py</filename>
    <namespace>pyproject</namespace>
    <member kind="function">
      <type>def</type>
      <name>update_pyproject_version</name>
      <anchorfile>namespacepyproject.html</anchorfile>
      <anchor>a2313ad7f22fa0f714d7197917c8ca8df</anchor>
      <arglist>(version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>python.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>python_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_PYWRAP_DLLAPI</name>
      <anchorfile>python_8hpp.html</anchorfile>
      <anchor>acf9feda069eee2f88ec98cd7775d1ee7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1c3232d624b8c2c88f0cc6771e395174</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;var_name=&quot;model&quot;)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED Model</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a496a2144a546816d6ee0c878234d373b</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;var_name, const bool)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/_unittests/python/jrl_cmakemodule/python.py</name>
    <path>/tmp/ws/src/pinocchio/cmake/_unittests/python/jrl_cmakemodule/</path>
    <filename>cmake_2__unittests_2python_2jrl__cmakemodule_2python_8py</filename>
    <namespace>python</namespace>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/_unittests/python/jrl_cmakemodule/python.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/_unittests/python/jrl_cmakemodule/</path>
    <filename>models_2example-robot-data_2cmake_2__unittests_2python_2jrl__cmakemodule_2python_8py</filename>
    <namespace>python</namespace>
  </compound>
  <compound kind="file">
    <name>python_parser.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>python__parser_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>python__parser_8cpp.html</anchorfile>
      <anchor>ac15dbd115b63f6941f0e70e2b51850ac</anchor>
      <arglist>(buildModel)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>qnet.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>qnet_8py</filename>
    <class kind="class">qnet::QValueNetwork</class>
    <namespace>qnet</namespace>
    <member kind="function">
      <type>def</type>
      <name>disturb</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>aa58adfa0164edf0903a81110f5aa27f3</anchor>
      <arglist>(u, i)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>onehot</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a8b5c635512e60e0abd3a499130017431</anchor>
      <arglist>(ix, n=NX)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rendertrial</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ad3caa8ffd7f03717da0d9e9eda55bcc5</anchor>
      <arglist>(maxiter=100)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DECAY_RATE</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a738627f2a6cd505e8103639a01bf1cc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ab3446f11c3348c73bb31c5266de22696</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>feed_dict</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a45deed133cfabadaf7cf50bbdfb9da14</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_rwd</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a8c5f4018fd6607d846907c881b0e6c00</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LEARNING_RATE</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a9df8310b119fc0bfcbb13b93a447439f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEPISODES</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a41676f01e0dd721b9be08e943ccee84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a569a5a5d16be9eccb25fa66a56d5996e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NU</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ac567441e84b358ca0ac02d06a422088e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NX</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a0e2af163d6feeb2a98d95918548e14e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a56360c393515fb614daecb1143a12fc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q2</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ab30fc96fd91f1c2fcb952ab011d6e330</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Qref</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>aa8e990dbe82def6e494b16058a0c619a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalue</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a9a3565969b9d6a8e13242e4ae426a388</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RANDOM_SEED</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a640cb3dda4a73551674d34e28c7e7ce1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reward</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a36a1610742716bf5c51b061a5e6ff73f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rsum</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ab8bf3102d11fb3e131c83d8f91c20e78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sess</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a9be5008fab15c2896c5b569f3c8a2fd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>aee47b891f02a1d6f7c9b728b24b02af2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ad2d08f140103481acf5d00487d62e814</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a944514dbcb38d0e45fff2202a9c065a2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>qtable.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>qtable_8py</filename>
    <namespace>qtable</namespace>
    <member kind="function">
      <type>def</type>
      <name>rendertrial</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a4c94e3d3d6a50beef7e11b4cee4313f9</anchor>
      <arglist>(maxiter=100)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DECAY_RATE</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a51aae3440386ee62d422071fac5bba66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a7bb4c79b0dfce1aefd9041f7d04b9e6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_rwd</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a6ff5cddf6edd1db2a17213df54e13ed2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LEARNING_RATE</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a3f2146f97c181a0502378d42a1c5cfc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEPISODES</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a26c70d16231da9d989dac6d16e8ed350</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a13d4e60d1f18c180aae692c8a6457615</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NU</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a867c66e6eb964c20dd076e21846ae3b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NX</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a3e6f17af580347f80e4433e9f7563e37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a8bffde0efb141612eb189de84ccd253c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>Qref</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>aade9b500a4c9dd5c7185dd5bed79f75b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RANDOM_SEED</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a6a5083d49a2cf6f4e193ff43cb9f0c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reward</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>af8df63a158525af87c167d31870e2c79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rsum</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a5143f83a1292aba388dd4090cd1cc188</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a423115ff4ee5a1b8a204c268630deda1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>afc6b91fccfd35dca5024fb209a657270</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a60d10daf83eb2dcd12655478ca03dd78</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>quaternion.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>quaternion_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>quaternion_8cpp.html</anchorfile>
      <anchor>a012ab05aaf6b8a25a5d33f96ee79ca3d</anchor>
      <arglist>(test_assignQuaternion)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>quaternion_8cpp.html</anchorfile>
      <anchor>a48049361c08216d6901f6e9c1e5a24c8</anchor>
      <arglist>(test_uniformRandom)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>quaternion_8cpp.html</anchorfile>
      <anchor>a3e656486408fb21cedef1f099edbd56b</anchor>
      <arglist>(test_isNormalized)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>autodiff/casadi/math/quaternion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/casadi/math/</path>
    <filename>autodiff_2casadi_2math_2quaternion_8hpp</filename>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; ::casadi::Matrix&lt; _Scalar &gt;, false &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::quaternion</namespace>
    <namespace>pinocchio::quaternion::internal</namespace>
  </compound>
  <compound kind="file">
    <name>autodiff/cppad/math/quaternion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/cppad/math/</path>
    <filename>autodiff_2cppad_2math_2quaternion_8hpp</filename>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; CppAD::AD&lt; _Scalar &gt;, false &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::quaternion</namespace>
    <namespace>pinocchio::quaternion::internal</namespace>
  </compound>
  <compound kind="file">
    <name>math/quaternion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>math_2quaternion_8hpp</filename>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; Scalar, true &gt;</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_negative</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_positive</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::quaternion</namespace>
    <namespace>pinocchio::quaternion::internal</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE</name>
      <anchorfile>math_2quaternion_8hpp.html</anchorfile>
      <anchor>af5ee84446b3f049e5011fe6931c85bb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>D1::Scalar</type>
      <name>angleBetweenQuaternions</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a3d45725fac13be55e80050b998389d82</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; D1 &gt; &amp;q1, const Eigen::QuaternionBase&lt; D2 &gt; &amp;q2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>assignQuaternion</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a4193c101367d75fc674c595055792719</anchor>
      <arglist>(Eigen::QuaternionBase&lt; D &gt; &amp;quat, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>defineSameRotation</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>ac054fafc1993ad7ecfeceb88b276a44d</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; D1 &gt; &amp;q1, const Eigen::QuaternionBase&lt; D2 &gt; &amp;q2, const typename D1::RealScalar &amp;prec=Eigen::NumTraits&lt; typename D1::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>firstOrderNormalize</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a3b92ee3536dc347822f8ba9d764d8d3b</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; D &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>ac36f6fef5a0603a87c23cbd520b2fc94</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; Quaternion &gt; &amp;quat, const typename Quaternion::Coefficients::RealScalar &amp;prec=Eigen::NumTraits&lt; typename Quaternion::Coefficients::RealScalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>uniformRandom</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>afab9a7726ac4c77dcd2b67821ea5e36e</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; Derived &gt; &amp;q)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>registration.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>registration_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>bool</type>
      <name>register_symbolic_link_to_registered_type</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab59ec18a75b75cb00f4473a9298d3ab</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>regressor.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>regressor_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>a348218d68e0af03d77ab71623d882083</anchor>
      <arglist>(test_kinematic_regressor_joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>aca62ca192b5fa694523eed24b991daa0</anchor>
      <arglist>(test_kinematic_regressor_joint_placement)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>ad5a1e3437a11db8d3189f4001bc4d313</anchor>
      <arglist>(test_kinematic_regressor_frame)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>a9d53d8c5e40b16e9cdb27ee8cb0c8405</anchor>
      <arglist>(test_static_regressor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>a7c3687ca6b79cdf46f6945b9f902bdc6</anchor>
      <arglist>(test_body_regressor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>ab1d3627116bd40a9e7a665768af3ab93</anchor>
      <arglist>(test_joint_body_regressor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>a194ac05312a576e16a9c8b494182b73b</anchor>
      <arglist>(test_frame_body_regressor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>regressor_8cpp.html</anchorfile>
      <anchor>ad6976791239f2c79944b2d3fbd331543</anchor>
      <arglist>(test_joint_torque_regressor)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>regressor.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>regressor_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::regressor</namespace>
    <member kind="function">
      <type>void</type>
      <name>bodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a079978954ee80640876b699400cc55ce</anchor>
      <arglist>(const MotionDense&lt; MotionVelocity &gt; &amp;v, const MotionDense&lt; MotionAcceleration &gt; &amp;a, const Eigen::MatrixBase&lt; OutputType &gt; &amp;regressor)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename MotionVelocity::Scalar, 6, 10, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options &gt;</type>
      <name>bodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a78eb9365d8df52db2a277ace147b68b5</anchor>
      <arglist>(const MotionDense&lt; MotionVelocity &gt; &amp;v, const MotionDense&lt; MotionAcceleration &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeFrameKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a86cc243f24b6a4b78edb1a7c763cbe13</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xReturnType &gt; &amp;kinematic_regressor)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x</type>
      <name>computeFrameKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aff573518d64ac08ddf1bb84bbea12fdb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a785d5bbefab2b20448e724f26b4dd3f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl&lt; Scalar, Options &gt; &amp;placement, const Eigen::MatrixBase&lt; Matrix6xReturnType &gt; &amp;kinematic_regressor)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a772df51c2e60cee9e2c3035ee1605d9e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl&lt; Scalar, Options &gt; &amp;placement)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5530fec3aa6685fc68d0b31be20b7787</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xReturnType &gt; &amp;kinematic_regressor)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a09030bdfcbdeb37505ea77959f61a35a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>computeJointTorqueRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a144858691dd4b67aa44d01f905088344</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>computeStaticRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acda310b9c721c7f06c45ff54c56866b5</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>computeStaticRegressor</name>
      <anchorfile>namespacepinocchio_1_1regressor.html</anchorfile>
      <anchor>a0c3b167e3dd93155e8d8024c5b66d07d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::BodyRegressorType &amp;</type>
      <name>frameBodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa3fba23fe61e4bbf86ed5bc009fb938f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, FrameIndex frameId)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::BodyRegressorType &amp;</type>
      <name>jointBodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2cedacbd64e2a86db2a627cfd597883c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, JointIndex jointId)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rnea-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>rnea-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>a9ab0e7c175ca8389e274ee6275bf9091</anchor>
      <arglist>(test_generalized_gravity_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>aeb6fcad037b7696517dbcc72593ba37d</anchor>
      <arglist>(test_generalized_gravity_derivatives_fext)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>ab090944966067dd2e2132c57633d1328</anchor>
      <arglist>(test_rnea_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>a4bf2b296eb2d0489af0f3bb2d6c25bec</anchor>
      <arglist>(test_rnea_derivatives_fext)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>a1ce0e658d459fb7f504a93a504a58966</anchor>
      <arglist>(test_rnea_derivatives_vs_kinematics_derivatives)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>aeda8a864b15c67df600dc3d43ebd9dd1</anchor>
      <arglist>(test_multiple_calls)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-derivatives_8cpp.html</anchorfile>
      <anchor>afa669946ca491d95484f5c57bc24cb29</anchor>
      <arglist>(test_get_coriolis)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rnea-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>rnea-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>computeGeneralizedGravityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7221574a13491b62778144644141ad23</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; ReturnMatrixType &gt; &amp;gravity_partial_dq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2f52a3ae71206c9d57b2ddcd72cdc680</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;rnea_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;rnea_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;rnea_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa9bc71bf9cfaed2045f60bda44d15af0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;rnea_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;rnea_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;rnea_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a792a17cdc02c7ba97fe065a3d8310f20</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a320fd11e16f2fffa10aede34e7c0c478</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeStaticTorqueDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a31862ab216d04b996c406a6c7a1f8661</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext, const Eigen::MatrixBase&lt; ReturnMatrixType &gt; &amp;static_torque_partial_dq)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rnea-second-order-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>rnea-second-order-derivatives_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rnea-second-order-derivatives_8cpp.html</anchorfile>
      <anchor>ae178a58e1a4ec91e6cd8c03e6728f639</anchor>
      <arglist>(test_rnea_derivatives_SO)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rnea-second-order-derivatives.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>rnea-second-order-derivatives_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>ComputeRNEASecondOrderDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a239a4ff530da52721e094f670ef9fe53</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const Tensor1 &amp;d2tau_dqdq, const Tensor2 &amp;d2tau_dvdv, const Tensor3 &amp;dtau_dqdv, const Tensor4 &amp;dtau_dadq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ComputeRNEASecondOrderDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab3bd3d0d8a082888344d80ccf8ed5f34</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/algorithm/parallel/rnea.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/algorithm/parallel/</path>
    <filename>bindings_2python_2algorithm_2parallel_2rnea_8cpp</filename>
    <includes id="algorithms_8hpp" name="algorithms.hpp" local="yes" imported="no">pinocchio/bindings/python/algorithm/algorithms.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelRNEA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9dd6221c5f03d8a55800016a566e2bc2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>rnea_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac7d5b93039828816ab8846732d598d0e</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;a)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>rnea_proxy_res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9e6d7eacd6cf8238edfaafef16242c27</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;a, Eigen::Ref&lt; Eigen::MatrixXd &gt; tau)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/rnea.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2rnea_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2rnea_8cpp.html</anchorfile>
      <anchor>a38b1385dfb18622d30fe6fe1b75862c0</anchor>
      <arglist>(test_rnea)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2rnea_8cpp.html</anchorfile>
      <anchor>af2eaa656adec0e70870665ea8ef55010</anchor>
      <arglist>(test_nle_vs_rnea)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2rnea_8cpp.html</anchorfile>
      <anchor>a3306a5686ea665d68a0c94bb3962293a</anchor>
      <arglist>(test_rnea_with_fext)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2rnea_8cpp.html</anchorfile>
      <anchor>aff51cfac1d0c25a566fea881bc269a2d</anchor>
      <arglist>(test_compute_gravity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2rnea_8cpp.html</anchorfile>
      <anchor>afd1a96ebb860527928c1ea554b30cb4e</anchor>
      <arglist>(test_compute_static_torque)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2rnea_8cpp.html</anchorfile>
      <anchor>a93fd5e58419a06b86715d23b9513e973</anchor>
      <arglist>(test_compute_coriolis)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>parallel/rnea.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/parallel/</path>
    <filename>parallel_2rnea_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>rnea</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8db0fecde513356bf61dfe2dee2e6c7f</anchor>
      <arglist>(const int num_threads, ModelPoolTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;pool, const Eigen::MatrixBase&lt; ConfigVectorPool &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorPool1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorPool2 &gt; &amp;a, const Eigen::MatrixBase&lt; TangentVectorPool3 &gt; &amp;tau)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rnea.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/algorithm/</path>
    <filename>rnea_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>computeCoriolisMatrix</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9d218e485952707a1103003d8fbc2622</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>computeGeneralizedGravity</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abba9acf2f9cc47873eb164e75171c25b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>computeStaticTorque</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afbe0fc2c9b9c46015197439d3fa7a811</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>getCoriolisMatrix</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a239c6c425fb0e0b0afd3cff5d34c2524</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>nonLinearEffects</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac1fc4c85c53a6d7285863b73c56c955c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>rnea</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a33f3f128c9cf62407691acaedd28e68d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>rnea</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a26d94ea6486d0eed1934b94767124a01</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const container::aligned_vector&lt; ForceDerived &gt; &amp;fext)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>robot-wrapper-viewer.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>robot-wrapper-viewer_8py</filename>
    <namespace>robot-wrapper-viewer</namespace>
    <member kind="variable">
      <type></type>
      <name>com</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a7ffe4cfa4076d0982a96f3d87bb658fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com2</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a474e90f80152c8338d826471488fedf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a9c6fffb02922fdf8777afb82b84c12c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>abd602c394be397af0f0bcd831b0df320</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a98461c26d50eda4c591dcaeb9a7118a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a68c954958cda8179d6d081a7e2f67de5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>opt</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a05fb1676f7b675b57a0e199cd57e3503</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>aa0bab9950415a9cc7b20e1ecf4df0bd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>aa83fd0360943a19636349bdd670b775b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>ae1f6effd73be91446e2b644849418a83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>add9ba7a30ef6d2f923eeb95e44b3769e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a57aef2ab94d5d8950f67abde0042840f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>VISUALIZER</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>acc8d8d6125656923b506135079427f9a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>robot_hand.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>robot__hand_8py</filename>
    <class kind="class">robot_hand::Robot</class>
    <class kind="class">robot_hand::Visual</class>
    <namespace>robot_hand</namespace>
  </compound>
  <compound kind="file">
    <name>robot_wrapper.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>robot__wrapper_8py</filename>
    <class kind="class">pinocchio::robot_wrapper::RobotWrapper</class>
    <namespace>pinocchio::robot_wrapper</namespace>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1robot__wrapper.html</anchorfile>
      <anchor>aaf9841788bc3e00cb8f53c71805a6ef6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>robots_loader.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/python/example_robot_data/</path>
    <filename>robots__loader_8py</filename>
    <class kind="class">example_robot_data::robots_loader::A1Loader</class>
    <class kind="class">example_robot_data::robots_loader::ANYmalKinovaLoader</class>
    <class kind="class">example_robot_data::robots_loader::ANYmalLoader</class>
    <class kind="class">example_robot_data::robots_loader::AsrTwoDofLoader</class>
    <class kind="class">example_robot_data::robots_loader::BaxterLoader</class>
    <class kind="class">example_robot_data::robots_loader::BoltLoader</class>
    <class kind="class">example_robot_data::robots_loader::CassieLoader</class>
    <class kind="class">example_robot_data::robots_loader::DoublePendulumContinuousLoader</class>
    <class kind="class">example_robot_data::robots_loader::DoublePendulumLoader</class>
    <class kind="class">example_robot_data::robots_loader::DoublePendulumSimpleLoader</class>
    <class kind="class">example_robot_data::robots_loader::FingerEduLoader</class>
    <class kind="class">example_robot_data::robots_loader::HectorLoader</class>
    <class kind="class">example_robot_data::robots_loader::HyQLoader</class>
    <class kind="class">example_robot_data::robots_loader::ICubLoader</class>
    <class kind="class">example_robot_data::robots_loader::ICubReducedLoader</class>
    <class kind="class">example_robot_data::robots_loader::IrisLoader</class>
    <class kind="class">example_robot_data::robots_loader::KinovaLoader</class>
    <class kind="class">example_robot_data::robots_loader::LaikagoLoader</class>
    <class kind="class">example_robot_data::robots_loader::PandaLoader</class>
    <class kind="class">example_robot_data::robots_loader::RobotLoader</class>
    <class kind="class">example_robot_data::robots_loader::RomeoLoader</class>
    <class kind="class">example_robot_data::robots_loader::SimpleHumanoidClassicalLoader</class>
    <class kind="class">example_robot_data::robots_loader::SimpleHumanoidLoader</class>
    <class kind="class">example_robot_data::robots_loader::Solo12Loader</class>
    <class kind="class">example_robot_data::robots_loader::Solo8Loader</class>
    <class kind="class">example_robot_data::robots_loader::TalosArmLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosBoxLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosFullBoxLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosFullLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosLegsLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosLoader</class>
    <class kind="class">example_robot_data::robots_loader::TiagoDualLoader</class>
    <class kind="class">example_robot_data::robots_loader::TiagoLoader</class>
    <class kind="class">example_robot_data::robots_loader::TiagoNoHandLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR10LimitedLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR10Loader</class>
    <class kind="class">example_robot_data::robots_loader::UR3GripperLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR3LimitedLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR3Loader</class>
    <class kind="class">example_robot_data::robots_loader::UR5GripperLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR5LimitedLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR5Loader</class>
    <namespace>example_robot_data::robots_loader</namespace>
    <member kind="function">
      <type>def</type>
      <name>getModelPath</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>a3243150d85fb3ca172d7632c01631ac9</anchor>
      <arglist>(subpath, printmsg=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>load</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>a39acc932b84878d487c5dccccbb38e85</anchor>
      <arglist>(name, display=False, rootNodeName=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>load_full</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>aba25f8885365bb7a2227aece2d1a3385</anchor>
      <arglist>(name, display=False, rootNodeName=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loader</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>aff38e12e59e4d8e828cce1f1f2aa2a2f</anchor>
      <arglist>(name, display=False, rootNodeName=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>readParamsFromSrdf</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>a0ddae50221be127d034d3372642b304f</anchor>
      <arglist>(model, SRDF_PATH, verbose=False, has_rotor_parameters=True, referencePose=&quot;half_sitting&quot;)</arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>ROBOTS</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>aff074b015e8b853f831a1b1deae9d0bb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>romeo_wrapper.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>romeo__wrapper_8py</filename>
    <class kind="class">pinocchio::romeo_wrapper::RomeoWrapper</class>
    <namespace>pinocchio::romeo_wrapper</namespace>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1romeo__wrapper.html</anchorfile>
      <anchor>ae1fa25f361de5246a26fa4c217232c6f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rotation.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>rotation_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rotation_8cpp.html</anchorfile>
      <anchor>ab3e237bb7ab7040645bd067748d627f5</anchor>
      <arglist>(test_toRotationMatrix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rotation_8cpp.html</anchorfile>
      <anchor>af2c25b2c7ebb2bd1593907147f519041</anchor>
      <arglist>(test_orthogonal_projection)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rotation.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>rotation_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>normalizeRotation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3c501583d12252ac82f577cd0729122f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;rot)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8381b3eabdf061609f70f0630b43711e</anchor>
      <arglist>(Matrix3) orthogonalProjection(const Eigen</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>toRotationMatrix</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aec020515037ed0a317bcaaa4df646219</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;axis, const Scalar &amp;cos_value, const Scalar &amp;sin_value, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;res)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rpy.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>rpy_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rpy_8cpp.html</anchorfile>
      <anchor>ad4be9df17f78bd6606383cf468d237a6</anchor>
      <arglist>(test_rpyToMatrix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rpy_8cpp.html</anchorfile>
      <anchor>a2c55959b20f1a64f4a438c260ee0b6ba</anchor>
      <arglist>(test_matrixToRpy)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rpy_8cpp.html</anchorfile>
      <anchor>ac4f200ab939699c17be5082d7a20ce50</anchor>
      <arglist>(test_computeRpyJacobian)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rpy_8cpp.html</anchorfile>
      <anchor>acdc43615fc8f5ea0e51f4f8a6646d2c8</anchor>
      <arglist>(test_computeRpyJacobianInverse)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>rpy_8cpp.html</anchorfile>
      <anchor>a900622329f3f4ab99b4286dea7dfcfc9</anchor>
      <arglist>(test_computeRpyJacobianTimeDerivative)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rpy.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>rpy_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::rpy</namespace>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>computeRpyJacobian</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>aaa56420bfd54b83a4425fbf38dbce2df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;rpy, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>computeRpyJacobianInverse</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a7b6ccdc5e8edc4213957a961273daec9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;rpy, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like0::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like0)::Options &gt;</type>
      <name>computeRpyJacobianTimeDerivative</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a22eb9c7b6bf31f94970ffdeb779aa186</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like0 &gt; &amp;rpy, const Eigen::MatrixBase&lt; Vector3Like1 &gt; &amp;rpydot, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>matrixToRpy</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a4b4af026a4569222007aa791c9eb735e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 3, 3 &gt;</type>
      <name>rpyToMatrix</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a4b545bc7afdad3a68b0263134607983c</anchor>
      <arglist>(const Scalar &amp;r, const Scalar &amp;p, const Scalar &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>rpyToMatrix</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a7733dc90742f9fa0a2a2658bcb62ff14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;rpy)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rpy.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>rpy_8py</filename>
    <class kind="class">rpy::TestRPY</class>
    <namespace>rpy</namespace>
  </compound>
  <compound kind="file">
    <name>run-algo-in-parallel.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>run-algo-in-parallel_8py</filename>
    <namespace>run-algo-in-parallel</namespace>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a41446f9fe7c6c5f6996c9cdc0bac402d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>batch_size</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a23d05a935e600d0392e27e4ace1b599c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a2d456b47b014090d41045e442fc2ab5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_threads</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>ad0909e6f74adc746c7b2cd87c47291a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pool</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a24b8b0611882703ffb01d7c99239fce8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a885491b4506558d1c4d3540817873637</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_aba</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a00e54cf5e5528a8bbff0e6e321e44e3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_aba2</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>af60bac77b20ff9bf2330ad747d3cd300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_rnea</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>ac8385932bfc4e25e52d58dff944bdd0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_rnea2</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>af314470855b6da4c5dc89f8e3717ea88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>ade7b2e3c661153903b275c2a65462b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a8f2f62821cb2992fca8542ce923a8a43</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>run_fk.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/packaging/pinocchio_header/</path>
    <filename>run__fk_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>run__fk_8cpp.html</anchorfile>
      <anchor>a2c3f6775325c30275d11c6abee2db6a0</anchor>
      <arglist>(int, char **)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>run_rnea.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/packaging/</path>
    <filename>run__rnea_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>run__rnea_8cpp.html</anchorfile>
      <anchor>a2c3f6775325c30275d11c6abee2db6a0</anchor>
      <arglist>(int, char **)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rviz-viewer.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>rviz-viewer_8py</filename>
    <namespace>rviz-viewer</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a7378f675a33c297cdc7b53c4b8906b42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a2499ddf09672b58973f3afc89802753c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a2f349af9275d912ba9e223b6b39b7751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>aae7ad16cccff6f5340dd1263cdfc6654</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a330f9af8199f7cfb10f21b22a2a07460</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a7207921b02f4dcda4d05370b641243e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a8471c383bc9bc9810b4302eda20e2451</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a2a6cbbab3cf2f6cb5c1aa4956de7689d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>ae22126dbda82f7a4b506b8ccd9faba8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a85f34010b29d9bf1175ea8be4065be65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>abc4320f56766aaba953ba6bf868c50f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a645bd54eddb2e29c62a08ec55b9604bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz2</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a5c3b53bcf41caddde41dd6969ff81d5c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rviz_visualizer.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/visualize/</path>
    <filename>rviz__visualizer_8py</filename>
    <class kind="class">pinocchio::visualize::rviz_visualizer::RVizVisualizer</class>
    <class kind="class">pinocchio::visualize::rviz_visualizer::RVizVisualizer::Viewer</class>
    <namespace>pinocchio::visualize::rviz_visualizer</namespace>
    <member kind="function">
      <type>def</type>
      <name>create_capsule_markers</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a007fbdb3665c13ff0546b365fc7b6fbf</anchor>
      <arglist>(marker_ref, oMg, d, l)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>SE3ToROSPose</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a6c358dce18279049cb97acf49d17159e</anchor>
      <arglist>(oMg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a153a02eb24e0d99b4c3964458545ed26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a094b5f85da17f412722e015c4df52e73</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sample-model-viewer.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>sample-model-viewer_8py</filename>
    <namespace>sample-model-viewer</namespace>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ae0e29eb56ef23558189a1340157eb0ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>input</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ace758d307b5276602a7d2dd42969c80d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a4e7dfdbfd28f8ac1a94c63c081e001f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>opt</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a310d826ccdf5aea634c76606670a57ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ac85d69bd353d6d7403d62659528e7c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a9eabacf86c2221ac1a00d257e8832c60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a10560ea6ad44e2a7145e304c7b94f0e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>VISUALIZER</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ae7a98443aad5d857acccef27a40f0d15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>aa7b44c82322b971edeadf720cb8a6298</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/sample-models.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>bindings_2python_2parsers_2sample-models_8cpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoid</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5edf32eb1b754f41fd63521f0e91a1e1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoid</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a86ccb674ccf93960d6f931ee8f2be4cf</anchor>
      <arglist>(bool usingFF)</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoidRandom</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9f7e618492a68c26ccb605400d25509f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoidRandom</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a902b37581775e75714fef2d478f4d1a1</anchor>
      <arglist>(bool usingFF)</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelManipulator</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6aa092f9b068e5b87bcb2d57b60482cd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSampleModels</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a0598610f77fda3012b1c89c76bd40a9d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/sample-models.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2sample-models_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2sample-models_8cpp.html</anchorfile>
      <anchor>aedbc98d192c0af7b99dab3888964cb00</anchor>
      <arglist>(build_model_sample_humanoid_random)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2sample-models_8cpp.html</anchorfile>
      <anchor>a55040a0f5aa02f53dddd1b788da198e5</anchor>
      <arglist>(build_model_sample_manipulator)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2sample-models_8cpp.html</anchorfile>
      <anchor>a246b32be8533308e180da54087be9948</anchor>
      <arglist>(build_model_sample_humanoid)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/sample-models.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>bindings_2python_2parsers_2sample-models_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeSampleModels</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a0598610f77fda3012b1c89c76bd40a9d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/parsers/sample-models.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/</path>
    <filename>src_2parsers_2sample-models_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::buildModels</namespace>
    <member kind="function">
      <type>void</type>
      <name>humanoid</name>
      <anchorfile>namespacepinocchio_1_1buildModels.html</anchorfile>
      <anchor>a465d840b56978859523b353bbb6a013f</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, bool usingFF=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>humanoidRandom</name>
      <anchorfile>namespacepinocchio_1_1buildModels.html</anchorfile>
      <anchor>af77eaa0f180aaaad02fbb34c13d28033</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, bool usingFF=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>manipulator</name>
      <anchorfile>namespacepinocchio_1_1buildModels.html</anchorfile>
      <anchor>accd83f24a102dbe4845cedc1c9a52f4b</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>se3-base.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>se3-base_8hpp</filename>
    <class kind="struct">pinocchio::SE3Base</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>autodiff/casadi/spatial/se3-tpl.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/casadi/spatial/</path>
    <filename>autodiff_2casadi_2spatial_2se3-tpl_8hpp</filename>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;,::casadi::Matrix&lt; NewScalar &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt;::casadi::Matrix&lt; Scalar &gt;, Options &gt;, NewScalar,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>autodiff/cppad/spatial/se3-tpl.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/cppad/spatial/</path>
    <filename>autodiff_2cppad_2spatial_2se3-tpl_8hpp</filename>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; CppAD::AD&lt; Scalar &gt;, Options &gt;, NewScalar, CppAD::AD&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, CppAD::AD&lt; NewScalar &gt;, Scalar &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>spatial/se3-tpl.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>spatial_2se3-tpl_8hpp</filename>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, NewScalar, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, Scalar, Scalar &gt;</class>
    <class kind="struct">pinocchio::SE3Tpl</class>
    <class kind="struct">pinocchio::traits&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_INTERNAL_COMPUTATION</name>
      <anchorfile>spatial_2se3-tpl_8hpp.html</anchorfile>
      <anchor>ac65af77cc0f715dd83246174e4bd5532</anchor>
      <arglist>(axis_id, v3_in, v3_out, R, res)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/spatial/se3.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/spatial/</path>
    <filename>bindings_2python_2spatial_2se3_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="copyable_8hpp" name="copyable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/copyable.hpp</includes>
    <includes id="printable_8hpp" name="printable.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/printable.hpp</includes>
    <class kind="struct">pinocchio::python::call</class>
    <class kind="struct">pinocchio::python::call&lt; SE3Tpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::SE3PythonVisitor::Pickle</class>
    <class kind="struct">pinocchio::python::SE3PythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/se3.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2se3_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a9feb14d532b130f38a470bd0359f4cfe</anchor>
      <arglist>(Archive &amp;ar, pinocchio::SE3Tpl&lt; Scalar, Options &gt; &amp;M, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>adefb774b0e76dd95c3a3fc8f97f582f1</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::SE3Tpl&lt; Scalar, Options &gt; &amp;M, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6b1b22aba910802c62fc476e9664e4e0</anchor>
      <arglist>(Archive &amp;ar, pinocchio::SE3Tpl&lt; Scalar, Options &gt; &amp;M, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/spatial/se3.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>src_2spatial_2se3_8hpp</filename>
    <class kind="struct">pinocchio::SE3GroupAction</class>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_SE3_TYPEDEF</name>
      <anchorfile>src_2spatial_2se3_8hpp.html</anchorfile>
      <anchor>a65969dd29a0b99aaaff1860a78e3fb92</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_SE3_TYPEDEF_GENERIC</name>
      <anchorfile>src_2spatial_2se3_8hpp.html</anchorfile>
      <anchor>a7f9dd27ff64ed54dff3a72d346bf0aa2</anchor>
      <arglist>(Derived, TYPENAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>src_2spatial_2se3_8hpp.html</anchorfile>
      <anchor>ae1f5588f04d1bfbabb84d1e6dc1da0b6</anchor>
      <arglist>(Derived)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/serialization/serializable.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/serialization/</path>
    <filename>bindings_2python_2serialization_2serializable_8hpp</filename>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <class kind="struct">pinocchio::python::SerializableVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>src/serialization/serializable.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>src_2serialization_2serializable_8hpp</filename>
    <class kind="struct">pinocchio::serialization::Serializable</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::serialization</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/serialization/serialization.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/serialization/</path>
    <filename>bindings_2python_2serialization_2serialization_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="namespace_8hpp" name="namespace.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/namespace.hpp</includes>
    <includes id="serialization_8hpp" name="serialization.hpp" local="yes" imported="no">pinocchio/bindings/python/serialization/serialization.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>buffer_copy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a48ccd199a7708737bcd9efcf8c1d5adc</anchor>
      <arglist>(boost::asio::streambuf &amp;dest, const boost::asio::streambuf &amp;source)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSerialization</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa6795d04d323a25f16c9b93bab66e018</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static boost::asio::streambuf &amp;</type>
      <name>prepare_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab7fc015e006b5525744212b73d51823c</anchor>
      <arglist>(boost::asio::streambuf &amp;self, const std::size_t n)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/serialization.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2serialization_8cpp</filename>
    <class kind="struct">call_equality_op</class>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">TestJointData</class>
    <class kind="struct">TestJointModel</class>
    <class kind="struct">TestJointMotion</class>
    <class kind="struct">TestJointTransform</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>a041dbd67884eaca579b241acb7da737e</anchor>
      <arglist>(test_static_buffer)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>a64a5c8bc6328de8c09d5bf8c64ed3d61</anchor>
      <arglist>(test_eigen_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>ac6f16a5257f9e77ee7de8ba69ab02e63</anchor>
      <arglist>(test_spatial_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>aacc78865981dad8eae8d16d1d079f02d</anchor>
      <arglist>(test_multibody_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>adecce5f510e95bf199b3b4cc25da6b23</anchor>
      <arglist>(test_multibody_joints_model_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>a738f30d6bb9629db447176758ac217fc</anchor>
      <arglist>(test_multibody_joints_transform_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>a3078e5cf4161cefc015beee2cddf1db0</anchor>
      <arglist>(test_multibody_joints_motion_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>af0bb9ab14836703c676ea28bd118105d</anchor>
      <arglist>(test_multibody_joints_data_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>aa653037ef439332e2b4f25c3deffff71</anchor>
      <arglist>(test_model_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>ae4072db3f06bdcdf852b3d6e4ce21180</anchor>
      <arglist>(test_throw_extension)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>ae1cb23021b9be28de8ee6bf33928452a</anchor>
      <arglist>(test_data_serialization)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>ac4a53077beae1ca921d4df9626a29d2b</anchor>
      <arglist>(test_geometry_data_serialization)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>generic_test</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>aaabbb792f5d271b21f04dab02b375085</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>run_call_equality_op</name>
      <anchorfile>unittest_2serialization_8cpp.html</anchorfile>
      <anchor>a8b3356ba797dca70c76c7f3c64e52b11</anchor>
      <arglist>(const T &amp;v1, const T &amp;v2)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>serialization.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/serialization/</path>
    <filename>serialization_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <includes id="namespace_8hpp" name="namespace.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/namespace.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeSerialization</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa6795d04d323a25f16c9b93bab66e018</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5bad61a4796fd668df1dd2c60661446c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>serialization.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>serialization_8py</filename>
    <class kind="class">serialization::TestSerialization</class>
    <namespace>serialization</namespace>
    <member kind="variable">
      <type>string</type>
      <name>main_path</name>
      <anchorfile>namespaceserialization.html</anchorfile>
      <anchor>ad6b3e52a17d87c81d2ca357183c17e20</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>cmake/cython/setup.in.py</name>
    <path>/tmp/ws/src/pinocchio/cmake/cython/</path>
    <filename>cmake_2cython_2setup_8in_8py</filename>
    <namespace>setup</namespace>
    <member kind="function">
      <type>def</type>
      <name>absolute</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3ac31648d6db300907a7bf10acaa28e</anchor>
      <arglist>(src)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef51ce1b22cffd404370dbbcaa8c7d4</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard_cmp</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac3aefb77ce5855a2948883a42fb39e39</anchor>
      <arglist>(lhs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>GenExtension</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a426f0fc740a730a26947fb07d914c70b</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_lib_name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a08aa150ac818aebfbb999a9ee751b4c1</anchor>
      <arglist>(path)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>chunk</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac841690a327d48358d0aa6c3da5b8003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>config</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1ff2a74642e15658e2c46138d2a73f72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a01e02c6fb7f2c66a9fb3daa4025be584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>abab7f7484072aa53119cd89cbae7c862</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ext_modules</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1bf56ea61d1e9865f316116dca2fbfea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>extensions</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a7d6a659c7fd056d592f248c1a98e6f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linux_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a019bf0e760b51815dc0818627ebb4c17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3a7a0638d76a01367c5bc3cc699447f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>package_data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a0a5ccc22976d20d42c6bb6c7651ce0be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>packages</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>aff2375a361fd5865c77bd9aa093be747</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sha512</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>afd75da7bae5803e88a0b20ac410de369</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src_files</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a8b0c506f6c8d68e5064a3bdc042c3b75</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2aa722b36a933088812b50ea79b97a5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version_hash</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1573d7834565996eab83d4d029075c0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>win32_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab1242eec890d42048d0a2d0da8c5ad81</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>models/example-robot-data/cmake/cython/setup.in.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/cmake/cython/</path>
    <filename>models_2example-robot-data_2cmake_2cython_2setup_8in_8py</filename>
    <namespace>setup</namespace>
    <member kind="function">
      <type>def</type>
      <name>absolute</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3ac31648d6db300907a7bf10acaa28e</anchor>
      <arglist>(src)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef51ce1b22cffd404370dbbcaa8c7d4</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard_cmp</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac3aefb77ce5855a2948883a42fb39e39</anchor>
      <arglist>(lhs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>GenExtension</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a426f0fc740a730a26947fb07d914c70b</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_lib_name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a08aa150ac818aebfbb999a9ee751b4c1</anchor>
      <arglist>(path)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>shortcuts.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>shortcuts_8py</filename>
    <namespace>pinocchio::shortcuts</namespace>
    <member kind="function">
      <type>def</type>
      <name>buildModelsFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1shortcuts.html</anchorfile>
      <anchor>a534ed6f82ed25cce91b4244a2f37c6ab</anchor>
      <arglist>(filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None, geometry_types=[pin.GeometryType.COLLISION, pin, GeometryType, VISUAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>createDatas</name>
      <anchorfile>namespacepinocchio_1_1shortcuts.html</anchorfile>
      <anchor>afbd16856999782f930aff591ceb0c073</anchor>
      <arglist>(models)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nle</name>
      <anchorfile>namespacepinocchio_1_1shortcuts.html</anchorfile>
      <anchor>a447187b27b59d3c9e1b59c2048c968ba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sign.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>sign_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>Scalar</type>
      <name>sign</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a735412db0044de446437dce7580ebf14</anchor>
      <arglist>(const Scalar &amp;t)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>simple_model.py</name>
    <path>/tmp/ws/src/pinocchio/models/</path>
    <filename>simple__model_8py</filename>
    <class kind="class">simple_model::ModelWrapper</class>
    <class kind="class">simple_model::RobotDisplay</class>
    <class kind="class">simple_model::SimplestWalker</class>
    <namespace>simple_model</namespace>
    <member kind="function">
      <type>def</type>
      <name>color</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>a8104b753fde9fa9b58e5b2ef451c0f79</anchor>
      <arglist>(body_number=1)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>placement</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>adf5893da822cee9155f6429546f2e2eb</anchor>
      <arglist>(x=0, y=0, z=0, rx=0, ry=0, rz=0)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DENSITY</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>a8433f325b9bbacd5f00b233e43ce3cbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>ae18d10cf3ecda1acd2bc0e04332dce5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>walker</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>a5b663167f91f6d7cf6208df4c8c15176</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>simulation-pendulum.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>simulation-pendulum_8py</filename>
    <namespace>simulation-pendulum</namespace>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a89a67d3cea6df03333f9e5001c63e7d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>action</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a5fe91b041b45d1a0da4e9d7abd84413b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>args</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>adbe2e8c56f5e90f6a531c3051c78b43a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>base_radius</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a9616427e119d3ed87a55a51b1809c23a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>body_inertia</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a8675867a8f38b1fe445c7a566fa3341b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>body_mass</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a993e16635abf19703f1eb7d393dd438e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>body_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae6e996edfa1943dba2d17e4beabcd6e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>body_radius</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a8237143e291380b7c4d4066283cf13c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>cart_length</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a07c7aacee28041830b6531c78d37dd7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>cart_mass</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a503be722dcd6c2389e46f94f3b8840bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>cart_radius</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a007e8f3df348c24f1bf481425e6704cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>damping_value</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a14fde9f177f3526faf89bbb8daa42c35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data_sim</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aea34ddd382af650113ee7fa9edce0ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ac5bd31fe99a08a10bc98186b274f3d28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dt_sleep</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae54f0d1dc7cfd535f3a82fb63e95c1a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ellapsed</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aa7582aca0a84ed3b3d5e7e124867b697</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom1_name</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a1db0bfe4bc16d1563bd1768f0c89b019</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom1_obj</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a16ae9c1a5a1b355a4330fa361e348f78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom2_name</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a92af5c2e8fd0b09a3dee7287a7f9679b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom2_obj</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a5e9f1033b89a6b8d9be191a06f4e8557</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_base</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a4540f666997b5994634dd61f7cc9e2f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_cart</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a66f03770ab6fe21750b00896859df704</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a17ce872bf903062a0f58dde7f8558a6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometry_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a7a9f9854c3f5f939b00d444d611c3124</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>help</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a82d76cb12d13ed2d39fac8fe854b8996</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_id</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae7ddd2e555e50fdf52b1342ac8028c66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>joint_name</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ad864022350e94fb4bb82c8842353e0a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aaf49c20605bda07b414ab7738c544c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a3a9bb805f6d58e6559d74698c0e56ee9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a73b419b05ff2f9a3af72c77e10ff1aa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a9db969ef187a82e6307c0211ec7f2c5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>parent_id</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a190bf6eb0a13840b48ab031798e1c942</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parser</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a899f627eed631a01adccd57a61244ba1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae52712d5fa86f538c990559e9e2584c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae35339934a3e3289a03370bb997bea29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rotation</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a0a9c4a16858a6aee1275ba120e21ade5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape1</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a600bfb2f04b15194b5f96df8bdff729f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>afbec0d549c563c1cce7ee66ab1fbb433</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>afb6bf51ed2a969e86d563703c84511b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape_base</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a86365d88310bfee4353503641314aa82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape_cart</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a5886e8a3fbfdf3001766055882bdb42d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>T</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a258daac8dc8300f14063a292aaad18f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>t</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aba1e0ff924d0e10914a98c03a496d2cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_control</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>af5f2f33ec7a808bf2730d06da1826914</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tic</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ac28992e98a98c8389a3338214612c2b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>toc</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>abb829c87cee2a8b882bc3effda692046</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>type</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ad3b6743ce904a7cafba4b0f00aa22622</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a16483b789b5b70d51eb599c9dae43ea9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae9060371961cd784bcf0f484948a8499</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a20bff73c502cfd074fc2676454219139</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sincos.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>sincos_8cpp</filename>
    <includes id="unittest_2utils_2macros_8hpp" name="unittest/utils/macros.hpp" local="yes" imported="no">utils/macros.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>sincos_8cpp.html</anchorfile>
      <anchor>ab788042a632f7bd5afca1d839c5155b7</anchor>
      <arglist>(test_sincos)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>testSINCOS</name>
      <anchorfile>sincos_8cpp.html</anchorfile>
      <anchor>a91eadc64ebb33759c77606f22703c55e</anchor>
      <arglist>(int n)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sincos.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>sincos_8hpp</filename>
    <class kind="struct">pinocchio::SINCOSAlgo</class>
    <class kind="struct">pinocchio::SINCOSAlgo</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; double &gt;</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; float &gt;</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; long double &gt;</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>SINCOS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac27546a12207aa8ea55d0c4ac17ca4a8</anchor>
      <arglist>(const S1 &amp;a, S2 *sa, S3 *ca)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>skew.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>skew_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>addSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8083f70afd847e1a2b54eb125a93d5e8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>alphaSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae9d1c38b8973397751e56ff1994cf366</anchor>
      <arglist>(const Scalar alpha, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3)::Options &gt;</type>
      <name>alphaSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a533e8c027b8c7da5938087046b4b8b40</anchor>
      <arglist>(const Scalar alpha, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>cross</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af0e2adf0128417608c54e341671e9691</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3xIn &gt; &amp;Min, const Eigen::MatrixBase&lt; Matrix3xOut &gt; &amp;Mout)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a96f0e80b7ac783dc4132cbc665dd279f</anchor>
      <arglist>(Matrix3x) cross(const Eigen</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afff79033b11ec2b30cba3016080747f7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename D::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(D)::Options &gt;</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac2d1062bf863b45298bcec8aa51c6beb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>skewSquare</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0548b1222261b39c25fc82ba423d8e60</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;u, const Eigen::MatrixBase&lt; V2 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;C)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename V1::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(V1)::Options &gt;</type>
      <name>skewSquare</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af2f63462693d8acc6c88a0fbb284ae50</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;u, const Eigen::MatrixBase&lt; V2 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afbd162eb86b7643916c527756c2863a1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Options &gt;</type>
      <name>unSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1667384a8bb74f4ae9b26337b4f3e3d5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>spatial-axis.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>spatial-axis_8hpp</filename>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; SpatialAxis&lt; axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::SpatialAxis</class>
    <class kind="struct">pinocchio::SpatialAxis</class>
    <namespace>pinocchio</namespace>
    <member kind="typedef">
      <type>SpatialAxis&lt; 0 &gt;</type>
      <name>AxisVX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4b2fb137cc2364f1c3eedd52e775f1a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 1 &gt;</type>
      <name>AxisVY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac67ca9d7dca2414fa6f7b4592c2ca867</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 2 &gt;</type>
      <name>AxisVZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a15a7e5f8fa5892645672e77f0add0b84</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 3 &gt;</type>
      <name>AxisWX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a92be5bde12d5a74389c7451f805d707e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 4 &gt;</type>
      <name>AxisWY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a058366a6bd56eb80bed5f95fbf38bc6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 5 &gt;</type>
      <name>AxisWZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab1f419926914b457be3453d3fb3762e8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>spatial.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>spatial_8cpp</filename>
    <class kind="struct">test_scalar_multiplication</class>
    <class kind="struct">test_scalar_multiplication_cartesian_axis</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>aeaba7193163fbae01cdf9c486ef78751</anchor>
      <arglist>(test_SE3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>ab6e8faa5f382f3d4a96ae4a25d9259d6</anchor>
      <arglist>(test_Motion)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a396e48eeee3415cda1d58c5340ad6bbb</anchor>
      <arglist>(test_motion_ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a38ffdeba221dfbc0fa3b5600c3ce4f2d</anchor>
      <arglist>(test_motion_zero)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a7c8ef11506b49403f474ca0ad984fef7</anchor>
      <arglist>(test_Force)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a5dccfafd159fa3d94cf7431f3cc32168</anchor>
      <arglist>(test_force_ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a7b57a2e355742d5c5695872fc778829e</anchor>
      <arglist>(test_Inertia)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a2ad0fced097dafa5ad0ad8d487cd5ae0</anchor>
      <arglist>(cast_inertia)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a62cac23e0ba76c9ca3c843c92956abf0</anchor>
      <arglist>(test_ActOnSet)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a9a7525cda08237041dcff7fa1cd4c425</anchor>
      <arglist>(test_skew)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a3de81a6108c145c7045ed2aad4162db1</anchor>
      <arglist>(test_addSkew)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>ae4edcd2c1b1c9d62008b78dcc56c726b</anchor>
      <arglist>(test_skew_square)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>aca6759502fd677a2214e66054d0eb42c</anchor>
      <arglist>(test_cartesian_axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>spatial_8cpp.html</anchorfile>
      <anchor>a8cebb253a091167543b4b46b96d001c8</anchor>
      <arglist>(test_spatial_axis)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>spatial.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>spatial_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>special-euclidean.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>special-euclidean_8hpp</filename>
    <class kind="struct">pinocchio::SpecialEuclideanOperationTpl</class>
    <class kind="struct">pinocchio::SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; Dim, Scalar, Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>special-orthogonal.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>special-orthogonal_8hpp</filename>
    <class kind="struct">pinocchio::SpecialOrthogonalOperationTpl</class>
    <class kind="struct">pinocchio::SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; Dim, Scalar, Options &gt; &gt;</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/srdf.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>bindings_2python_2parsers_2srdf_8cpp</filename>
    <includes id="bindings_2python_2parsers_2srdf_8hpp" name="bindings/python/parsers/srdf.hpp" local="yes" imported="no">pinocchio/bindings/python/parsers/srdf.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_FUNCTION_OVERLOADS</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab939d0e236f9c448d055cd390e0121dd</anchor>
      <arglist>(removeCollisionPairs_overload, srdf::removeCollisionPairs, 3, 4) BOOST_PYTHON_FUNCTION_OVERLOADS(removeCollisionPairsFromXML_overload</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_FUNCTION_OVERLOADS</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad2b687e0ff78feb9b95b32aed83d9267</anchor>
      <arglist>(loadReferenceConfigurations_overload, srdf::loadReferenceConfigurations, 2, 3) void loadReferenceConfigurationsFromXML(Model &amp;model</arglist>
    </member>
    <member kind="variable">
      <type>const std::string &amp;</type>
      <name>xmlStream</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8cfb1859f69c0c35a1c9a5ae362ec9d9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/srdf.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2srdf_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2srdf_8cpp.html</anchorfile>
      <anchor>a1cec17d2c64bb834330113c26fde0591</anchor>
      <arglist>(test_removeCollisionPairs)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2srdf_8cpp.html</anchorfile>
      <anchor>a131970bbe75c225ddab5ae3e68f1c648</anchor>
      <arglist>(readReferenceConfig)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2srdf_8cpp.html</anchorfile>
      <anchor>adec0e15385da0c75eaeabeaaa8833c18</anchor>
      <arglist>(readReferenceConfig_stream)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2srdf_8cpp.html</anchorfile>
      <anchor>a43d4f4f8c1d928b411c9709cf33e0572</anchor>
      <arglist>(test_continuous_joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2srdf_8cpp.html</anchorfile>
      <anchor>a146aaa714269b81aeff29000da86aeb9</anchor>
      <arglist>(readRotorParams)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/srdf.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>bindings_2python_2parsers_2srdf_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeSRDFParser</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a35ea03f2453c5e94fd00b5d916f87248</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/parsers/srdf.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/</path>
    <filename>src_2parsers_2srdf_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::srdf</namespace>
    <member kind="function">
      <type>void</type>
      <name>loadReferenceConfigurations</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>a691ad7cf74f90f9ef2b98d087a8d18df</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadReferenceConfigurationsFromXML</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>aa35bbf64713469d017053c5f44a464b5</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, std::istream &amp;xmlStream, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadRotorParameters</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>aaf31a4ea6c3ab99633f05acfd30da23b</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeCollisionPairs</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>af240a076aeff562f72883c414f49262f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, GeometryModel &amp;geom_model, const std::string &amp;filename, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeCollisionPairsFromXML</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>a7274e3668080448e6b03494f1bec727c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, GeometryModel &amp;geom_model, const std::string &amp;xmlString, const bool verbose=false)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>static-buffer.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>static-buffer_8hpp</filename>
    <class kind="struct">pinocchio::serialization::StaticBuffer</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::serialization</namespace>
  </compound>
  <compound kind="file">
    <name>static-contact-dynamics.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>static-contact-dynamics_8py</filename>
    <namespace>static-contact-dynamics</namespace>
    <member kind="variable">
      <type></type>
      <name>a0</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a86697b447bbdaf710491c55ffede4325</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>acc</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ac0f61b948fe20ed7fafdb8e740757600</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>bl_id</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a288294b9311b20944272f0e39b4c4d4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a3a46b56ff16d5af4062a61b6ec05214b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a61f5c1ef7d73394e41bab13cb2393dc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>feet_ids</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a34fd74286f76eb8d4a2f444fdf6b02d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>feet_names</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>aa962527ac3acae43ff21605e548afee7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fext__bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a518a7dc3d14d05ad6e1fd2df05243148</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>fs_ext</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a8e0d7758f7a31c5a6a5293f105840af4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>g_bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a8090ee7ce99930aa51754e759a1914bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>g_grav</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2d3d51d7918a09a8d36b96a79ca1b957</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>g_j</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>abf21a63e6d75b54c9e3e33362ca146a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Jc__feet_bl_T</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2c60cf2c9e2d9f000f01c48295279b96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Jc__feet_j_T</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a81f27fcdc6e4350b850cd4ef112eb093</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>joint_ids</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ab23ec085ca0ceeb285d24ffe15b05d96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>joint_names</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a6508dcc7ba732453f444862d7e81af57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js__feet_bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a20af78259261bcb9a183a430450540ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js__feet_q</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ac0dc73e6092e3f2472e0820cce38f158</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js_feet3d_q</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a01e4391a88ffec7a4cb964f20d01edd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js_feet_j</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>afe1c92d5cba156099d3aa0a1cd0c9f6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l_sp__bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2437fbe95578f3dca3cf4324dbc2bbfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l_sp__f</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>aed186a56814b79dad72627bd00a470e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a122c7df4385d096b8f4c7557e7d79b5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ls</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ad87c3a0748d73832348e61606e6ee03b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>ls__bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ae7e0245aed29d967f09aa4f1c4062e43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ls__f</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a282f44e160478c390408069e690bc88e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a8f3419fd2638226ebd7381ccb7ed5013</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a4760ad40f5eff1085a5ab440bfa518ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a0f09cb68b45ffb13057a02a1d3ee40ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ncontact</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>aadaa15a75de3bb3c3cc096f79f6f2a3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>af28f1ba1ab039cd4f1211a10c9f69456</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a57e0b0a1398e940002bfecd88b44eb61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a26e2ea63f9ec9b714bf57dcab9bb01e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_rnea</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a13c182355e8df589fab1ffb95d4856d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a08c61fb0bfeac47b527a952b4b1535cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a9c1730d288d15d007f53dfba31c3e496</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a307c255fd2077ea15d7674380cf1bc8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2cbc81ff21e41b7cc79de704a26a5f41</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>autodiff/casadi/utils/static-if.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/casadi/utils/</path>
    <filename>autodiff_2casadi_2utils_2static-if_8hpp</filename>
    <class kind="struct">pinocchio::internal::if_then_else_impl&lt;::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt;, ThenType, ElseType &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>autodiff/cppad/utils/static-if.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/autodiff/cppad/utils/</path>
    <filename>autodiff_2cppad_2utils_2static-if_8hpp</filename>
    <class kind="struct">pinocchio::internal::if_then_else_impl&lt; CppAD::AD&lt; Scalar &gt;, CppAD::AD&lt; Scalar &gt;, ThenType, ElseType &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
  </compound>
  <compound kind="file">
    <name>utils/static-if.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>utils_2static-if_8hpp</filename>
    <class kind="struct">pinocchio::internal::if_then_else_impl</class>
    <class kind="struct">pinocchio::internal::if_then_else_impl&lt; condition_type, condition_type, ThenType, ElseType &gt;</class>
    <class kind="struct">pinocchio::internal::traits&lt; if_then_else_impl&lt; LhsType, RhsType, return_type, return_type &gt; &gt;</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::internal</namespace>
    <member kind="enumeration">
      <type></type>
      <name>ComparisonOperators</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LT</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7ab9c639194620ff41bd54d47ec0e1b26e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LE</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7a9c529309a9ddd7de39cf35700240cc12</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>EQ</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7a8cb9482f7c3246a7a35f5c1be99b24eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>GE</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7abada7167913fa2b578495add632ee292</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>GT</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7a9bf55dd2e35168aa66eb3e379d295804</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>if_then_else_impl&lt; LhsType, RhsType, ThenType, ElseType &gt;::ReturnType</type>
      <name>if_then_else</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>a352ecd060ee8d99094ea13d0a47476ea</anchor>
      <arglist>(const ComparisonOperators op, const LhsType &amp;lhs_value, const RhsType &amp;rhs_value, const ThenType &amp;then_value, const ElseType &amp;else_value)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>std-aligned-vector.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>std-aligned-vector_8hpp</filename>
    <includes id="pickle-vector_8hpp" name="pickle-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/pickle-vector.hpp</includes>
    <includes id="std-vector_8hpp" name="std-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/std-vector.hpp</includes>
    <class kind="struct">pinocchio::python::StdAlignedVectorPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
  </compound>
  <compound kind="file">
    <name>std-map.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>std-map_8hpp</filename>
    <class kind="struct">pinocchio::python::details::overload_base_get_item_for_std_map</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <namespace>pinocchio::python::details</namespace>
  </compound>
  <compound kind="file">
    <name>std-vector.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>std-vector_8hpp</filename>
    <includes id="pickle-vector_8hpp" name="pickle-vector.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/pickle-vector.hpp</includes>
    <class kind="struct">pinocchio::python::details::overload_base_get_item_for_std_vector</class>
    <class kind="struct">pinocchio::python::StdContainerFromPythonList</class>
    <class kind="struct">pinocchio::python::StdVectorPythonVisitor</class>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <namespace>pinocchio::python::details</namespace>
  </compound>
  <compound kind="file">
    <name>string-generator.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>string-generator_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>std::string</type>
      <name>randomStringGenerator</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1b50c7ed93765739fe33efb660ff4793</anchor>
      <arglist>(const int len)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>symmetric.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>symmetric_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>symmetric_8cpp.html</anchorfile>
      <anchor>a8b42390f653fe50c8441afd7e09acdb5</anchor>
      <arglist>(test_pinocchio_Sym3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>symmetric_8cpp.html</anchorfile>
      <anchor>a1c74bd7ff7bf695fefb20fdbe78d76e8</anchor>
      <arglist>(test_eigen_SelfAdj)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>symmetric_8cpp.html</anchorfile>
      <anchor>a761c389e408a7bec5220199eecf5e364</anchor>
      <arglist>(comparison)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>symmetric_8cpp.html</anchorfile>
      <anchor>a786be6ac48d63877e768c68f326114f4</anchor>
      <arglist>(cast)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>timeSelfAdj</name>
      <anchorfile>symmetric_8cpp.html</anchorfile>
      <anchor>abcdc3cc075ab1f88befec14f43d3c40f</anchor>
      <arglist>(const Eigen::Matrix3d &amp;A, const Eigen::Matrix3d &amp;Sdense, Eigen::Matrix3d &amp;ASA)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>timeSym3</name>
      <anchorfile>symmetric_8cpp.html</anchorfile>
      <anchor>a5ff532188e5318d351e2670567178247</anchor>
      <arglist>(const pinocchio::Symmetric3 &amp;S, const pinocchio::Symmetric3::Matrix3 &amp;R, pinocchio::Symmetric3 &amp;res)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>serialization/symmetric3.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>serialization_2symmetric3_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a502f1f94295f8852f8e2dd49566a2399</anchor>
      <arglist>(Archive &amp;ar, pinocchio::Symmetric3Tpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0194f98ee72d454b3b64a156fc7ea3e2</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::Symmetric3Tpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aaf2dba988ad96fa7c7d5f3fee386ac8d</anchor>
      <arglist>(Archive &amp;ar, pinocchio::Symmetric3Tpl&lt; Scalar, Options &gt; &amp;S, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>spatial/symmetric3.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/spatial/</path>
    <filename>spatial_2symmetric3_8hpp</filename>
    <class kind="struct">pinocchio::Symmetric3Tpl::AlphaSkewSquare</class>
    <class kind="struct">pinocchio::Symmetric3Tpl::SkewSquare</class>
    <class kind="class">pinocchio::Symmetric3Tpl</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>taylor-expansion.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>taylor-expansion_8hpp</filename>
    <class kind="struct">pinocchio::TaylorSeriesExpansion</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>tensor.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/math/</path>
    <filename>tensor_8hpp</filename>
    <class kind="struct">Eigen::array</class>
    <class kind="struct">pinocchio::Tensor</class>
    <namespace>Eigen</namespace>
    <namespace>pinocchio</namespace>
    <member kind="define">
      <type>#define</type>
      <name>EIGEN_DEVICE_FUNC</name>
      <anchorfile>tensor_8hpp.html</anchorfile>
      <anchor>a9efec3cfd22b9a33bead9c6718d128da</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceEigen.html</anchorfile>
      <anchor>a961d19f3829903b9df001714ebef5fd2</anchor>
      <arglist>(const array&lt; T, n &gt; &amp;lhs, const array&lt; T, n &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator==</name>
      <anchorfile>namespaceEigen.html</anchorfile>
      <anchor>a20919b15d3306d9d2e70b5698cd0b895</anchor>
      <arglist>(const array&lt; T, n &gt; &amp;lhs, const array&lt; T, n &gt; &amp;rhs)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test-cpp2pybind11.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/pybind11/</path>
    <filename>test-cpp2pybind11_8py</filename>
    <namespace>test-cpp2pybind11</namespace>
    <member kind="function">
      <type>def</type>
      <name>print_ref_count</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>adad6f3f0fb7d8eb53c191a1d4b92dff6</anchor>
      <arglist>(v, what=&quot;&quot;)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a2865d6cb2da238310865ee45a9168312</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>addr2</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a85f875585d7449ff05008df2f0c0c91c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>addr3</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a7444f1a4bc2a206a164b70b5e0a9d2ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>aa31f9514f5c8a9c47d3d3b0674ba44d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>m</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a13f0e93d210b5f7d1ed76961b4d2b79d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mm</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>afca7d6a7ac1c55b9b887e8bb326d17fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mmm</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a545a704fc2c421fc5fe0ee7f6ef6e059</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>abf1b8d9957b79add9e38b830899c321f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_case.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>test__case_8py</filename>
    <class kind="class">test_case::PinocchioTestCase</class>
    <namespace>test_case</namespace>
    <member kind="function">
      <type>def</type>
      <name>tracefunc</name>
      <anchorfile>namespacetest__case.html</anchorfile>
      <anchor>aa889870bc4e1040f13fbdac800621136</anchor>
      <arglist>(frame, event, arg)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_load.py</name>
    <path>/tmp/ws/src/pinocchio/models/example-robot-data/unittest/</path>
    <filename>test__load_8py</filename>
    <class kind="class">test_load::RobotTestCase</class>
    <namespace>test_load</namespace>
    <member kind="variable">
      <type>bool</type>
      <name>pybullet</name>
      <anchorfile>namespacetest__load.html</anchorfile>
      <anchor>a32d64cd89e38577f883c919fdee61ad7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timer.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>timer_8hpp</filename>
    <class kind="struct">PinocchioTicToc</class>
    <member kind="define">
      <type>#define</type>
      <name>SMOOTH</name>
      <anchorfile>timer_8hpp.html</anchorfile>
      <anchor>a29e25d9140fee3188270d100368e58e3</anchor>
      <arglist>(s)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>operator-</name>
      <anchorfile>timer_8hpp.html</anchorfile>
      <anchor>a8b83eb7f6a3030070aa800bb9cc59a24</anchor>
      <arglist>(const struct timeval &amp;t1, const struct timeval &amp;t0)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-cg.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-cg_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-cg_8cpp.html</anchorfile>
      <anchor>a217dbf8b442f20279ea00b898af96f52</anchor>
      <arglist>(int argc, const char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-cholesky.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-cholesky_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-cholesky_8cpp.html</anchorfile>
      <anchor>a217dbf8b442f20279ea00b898af96f52</anchor>
      <arglist>(int argc, const char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-derivatives.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-derivatives_8cpp</filename>
    <member kind="function">
      <type>void</type>
      <name>aba_fd</name>
      <anchorfile>timings-derivatives_8cpp.html</anchorfile>
      <anchor>a2c90bac7567b79a819618cd797a53895</anchor>
      <arglist>(const pinocchio::Model &amp;model, pinocchio::Data &amp;data_fd, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau, Eigen::MatrixXd &amp;daba_dq, Eigen::MatrixXd &amp;daba_dv, pinocchio::Data::RowMatrixXs &amp;daba_dtau)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-derivatives_8cpp.html</anchorfile>
      <anchor>a217dbf8b442f20279ea00b898af96f52</anchor>
      <arglist>(int argc, const char **argv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rnea_fd</name>
      <anchorfile>timings-derivatives_8cpp.html</anchorfile>
      <anchor>afa157a192ab3c4b2d5526cd604f43c5e</anchor>
      <arglist>(const pinocchio::Model &amp;model, pinocchio::Data &amp;data_fd, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a, const Eigen::MatrixBase&lt; Matrix1 &gt; &amp;_drnea_dq, const Eigen::MatrixBase&lt; Matrix2 &gt; &amp;_drnea_dv, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;_drnea_da)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-eigen.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-eigen_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>RC1</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a66957649eb1a6390fa591764c8532e15</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RC2</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>af8ba42765acb4065b99df6a29ad65cf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RC3</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a07b23e4023e4b7597f7552d14e634a79</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkDMatrix</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a76ff2c7d88a6c8aa6294bc52d888d906</anchor>
      <arglist>(int MSIZE, std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkDVector</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a87dad534584574112d6f524fc7c1731f</anchor>
      <arglist>(int MSIZE, std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkMatrix</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a6880e6929b244ac98f2f7b945cc7925e</anchor>
      <arglist>(std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkQuaternion</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a7ced7ee2eea761b612a7b34dfe73238a</anchor>
      <arglist>(std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkQuaternionD</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>aa3d47e4ef67808d2d7dc78e91d5f99ec</anchor>
      <arglist>(std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkQuaternionQuaternion</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a8e2d4f0efaeb92fd2dee4fca515fc5ec</anchor>
      <arglist>(std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkQuaternionToMatrix</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>adf56de493e9ae06851a79d2a75780a70</anchor>
      <arglist>(std::string label)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkVector</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>a54a707c0460bba967501950ae26d9be6</anchor>
      <arglist>(std::string label)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-eigen_8cpp.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-geometry.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-geometry_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-geometry_8cpp.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-jacobian.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-jacobian_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-jacobian_8cpp.html</anchorfile>
      <anchor>a217dbf8b442f20279ea00b898af96f52</anchor>
      <arglist>(int argc, const char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings-parallel.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings-parallel_8cpp</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings-parallel_8cpp.html</anchorfile>
      <anchor>a0fc34f49b0e6eaed5e5c3accb409b1d1</anchor>
      <arglist>(int, const char **)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>timings.cpp</name>
    <path>/tmp/ws/src/pinocchio/benchmark/</path>
    <filename>timings_8cpp</filename>
    <class kind="struct">pinocchio::EmptyForwardStepBinaryVisit</class>
    <class kind="struct">pinocchio::EmptyForwardStepBinaryVisitNoData</class>
    <class kind="struct">pinocchio::EmptyForwardStepUnaryVisit</class>
    <class kind="struct">pinocchio::EmptyForwardStepUnaryVisitNoData</class>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassBinaryVisit</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a641d5e8adb2d7ec0665d5cec3e55c87d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassBinaryVisitNoData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aed20f71d65066ae5469e63933ffb7e05</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassUnaryVisit</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acf38f050fbb70ce8298ba0cf842d06e6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassUnaryVisitNoData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a12ec61584caff5f083e91f962345e2b2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>timings_8cpp.html</anchorfile>
      <anchor>a217dbf8b442f20279ea00b898af96f52</anchor>
      <arglist>(int argc, const char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>transform.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/multibody/fcl/</path>
    <filename>transform_8hpp</filename>
    <class kind="struct">boost::python::converter::implicit&lt; ::hpp::fcl::Transform3f,::pinocchio::SE3Tpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::python::converter::implicit&lt; ::pinocchio::SE3Tpl&lt; Scalar, Options &gt;,::hpp::fcl::Transform3f &gt;</class>
    <namespace>boost</namespace>
    <namespace>boost::python</namespace>
    <namespace>boost::python::converter</namespace>
  </compound>
  <compound kind="file">
    <name>treeview.dox</name>
    <path>/tmp/ws/src/pinocchio/doc/</path>
    <filename>treeview_8dox</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::buildModels</namespace>
    <namespace>pinocchio::cholesky</namespace>
    <namespace>pinocchio::container</namespace>
    <namespace>pinocchio::forceSet</namespace>
    <namespace>pinocchio::lua</namespace>
    <namespace>pinocchio::motionSet</namespace>
    <namespace>pinocchio::quaternion</namespace>
    <namespace>pinocchio::rpy</namespace>
    <namespace>pinocchio::srdf</namespace>
    <namespace>pinocchio::urdf</namespace>
  </compound>
  <compound kind="file">
    <name>types.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/urdf/</path>
    <filename>types_8hpp</filename>
    <namespace>urdf</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_URDF_SHARED_PTR</name>
      <anchorfile>types_8hpp.html</anchorfile>
      <anchor>a97551c7fb81da2aea2dd5837e1e0222d</anchor>
      <arglist>(type)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>types_8hpp.html</anchorfile>
      <anchor>afa75b9cabdb94573d9da451dccacb353</anchor>
      <arglist>(Class)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PINOCCHIO_URDF_WEAK_PTR</name>
      <anchorfile>types_8hpp.html</anchorfile>
      <anchor>a70d7e932f7529ee8770ea5b6c8954510</anchor>
      <arglist>(type)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_SHARED_PTR</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>ae0e40a4f8a06d881c52a415a0960c2ef</anchor>
      <arglist>(T) const _pointer_cast(PINOCCHIO_URDF_SHARED_PTR(U) const &amp;r)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a98d1e0bd987f8ef0690a8781ff746d7f</anchor>
      <arglist>(Box)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a0758dd7978670e727e225dea253b940d</anchor>
      <arglist>(Collision)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>af4ff99a9934778ef440637ef59c93d11</anchor>
      <arglist>(Cylinder)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a23b3557f058a99630f985d99f26f3e30</anchor>
      <arglist>(Geometry)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a9a248d3c30d10e6d94e2ea3bc6ec671b</anchor>
      <arglist>(Inertial)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>aff5d9a5f60f7263914eedc742bbabef2</anchor>
      <arglist>(Joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a70e1e66eeb26facc19988e20f3da1654</anchor>
      <arglist>(Link)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>aba102129b07cdf3e3689bb8f57da76a9</anchor>
      <arglist>(Material)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a493164e562c0a32d066e98a9fa2abf1a</anchor>
      <arglist>(Mesh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a5383bb267663010e5bf4d093922985e3</anchor>
      <arglist>(ModelInterface)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>ad1b48300181812d57616e4120defd749</anchor>
      <arglist>(Sphere)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>ac4c3be5e680205e583e03e3a306ccc0e</anchor>
      <arglist>(Visual)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unary-op.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/core/</path>
    <filename>unary-op_8hpp</filename>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>update-model-after-urdf.py</name>
    <path>/tmp/ws/src/pinocchio/examples/</path>
    <filename>update-model-after-urdf_8py</filename>
    <namespace>update-model-after-urdf</namespace>
    <member kind="function">
      <type>def</type>
      <name>check_limb_lengths</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>aa1c6602abb00c2893e32670c11e78cf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_limb_lengths</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a5b9d985507d689248f4179a00598bba4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>known_offsets</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a57382bd960ab970e7c135f2cb19c4eb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a99a79913a2902f1cca8b7e0964e3f88f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a2771da5d72433300c8389b35ff239ace</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ur5x4.py</name>
    <path>/tmp/ws/src/pinocchio/doc/d-practical-exercises/src/</path>
    <filename>ur5x4_8py</filename>
    <namespace>ur5x4</namespace>
    <member kind="function">
      <type>def</type>
      <name>loadRobot</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>aa84402bfacede89a9ce4f0874d75f6c3</anchor>
      <arglist>(M0, name)</arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>color</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a85248ca300524c27ab531c60007c69aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>d</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>ac6e15f59ba094b6ba15a7c1758c000d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>gepettoViewer</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>ae1f3a9f6376a43e5c630300c25be6ecb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>h</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a91a2d319818e72b95d504190f131a326</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mt</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>afb7be42631aa348e23e5fffaa02fcbd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mtool</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a7ea15c9e2929beddd49f9a333bf1ea2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>PKG</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a15a9f3d2a99104685cc1f0a0fb721132</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a26a5b8f788cdec84d21b7a941fa12f24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>robots</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a6d06ec73f20aeb69b65d37673d4097a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>URDF</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>ab59a94ebd41984d0519282ba5a5e86df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a172f405c64d59f445b927de19748b4a3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>urdf.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>urdf_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a89e8107cdf137491d35acdc186689aa1</anchor>
      <arglist>(build_model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a981bfa9210a8f972c16f91ff86dc6b63</anchor>
      <arglist>(build_model_simple_humanoid)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a28de4e3dbcc91207ad62335a95ac67fa</anchor>
      <arglist>(check_mesh_relative_path)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a29fe23bc137f2d80b9209305e8ac54e3</anchor>
      <arglist>(build_model_from_XML)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a430e4ae94b003c9b2c4384583a1ccbe2</anchor>
      <arglist>(check_tree_from_XML)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a74f325b1b78b04feaaca13f9ef185616</anchor>
      <arglist>(build_model_from_UDRFTree)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a98bb881dffe55b96d94c58847dd9552c</anchor>
      <arglist>(build_model_with_joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a0233b5e6d91685ad810b24e026e244ff</anchor>
      <arglist>(build_model_with_joint_from_XML)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a70702c7c82851af2da4ea2f4dcf26c2c</anchor>
      <arglist>(build_model_with_joint_from_UDRFTree)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>acf5f7cf319f5b6be6412fe6d3227bf27</anchor>
      <arglist>(append_two_URDF_models)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>ae5e1af37498b6795a649d102b219dcd9</anchor>
      <arglist>(append_two_URDF_models_with_root_joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a57c7e65d0e0b23f99124b2264fc63a9e</anchor>
      <arglist>(check_specific_models)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>urdf_8cpp.html</anchorfile>
      <anchor>a2fdb6edd2685610c7db380cf3ffe4c16</anchor>
      <arglist>(test_getFrameId_identical_link_and_joint_name)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/parsers/urdf.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/parsers/</path>
    <filename>bindings_2python_2parsers_2urdf_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a90d5ef8c6c41b7281042b1b405a7fe72</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af508962ea76ff09635b7d2473f2f9020</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFParser</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad60c31954e256b7822ccb979ca562051</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/parsers/urdf.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/</path>
    <filename>src_2parsers_2urdf_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::urdf</namespace>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>ac33a66c93d49226b84e418dae11b36ed</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const GeometryType type, GeometryModel &amp;geom_model, const std::vector&lt; std::string &gt; &amp;package_paths=std::vector&lt; std::string &gt;(), ::hpp::fcl::MeshLoaderPtr mesh_loader=::hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a77097f7c20a7947d1466f81303cc8b9e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const GeometryType type, GeometryModel &amp;geom_model, const std::string &amp;package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a0e99d18fa78408727657f24841ea073a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::istream &amp;xml_stream, const GeometryType type, GeometryModel &amp;geom_model, const std::vector&lt; std::string &gt; &amp;package_paths=std::vector&lt; std::string &gt;(), hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>aae34521bded8c37617894ad7b2d5cb2c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::istream &amp;xml_stream, const GeometryType type, GeometryModel &amp;geom_model, const std::string &amp;package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a9222e9df7754648584079ac37836c163</anchor>
      <arglist>(const std::string &amp;filename, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointModel &amp;rootJoint, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a4a7ad8b23f7ea794ca939b152ffc489c</anchor>
      <arglist>(const std::string &amp;filename, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a63332826dc844492132d11657400bd9f</anchor>
      <arglist>(const boost::shared_ptr&lt; ::urdf::ModelInterface &gt; urdfTree, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointModel &amp;rootJoint, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a1e03c2476caf3c23560f8ce24f860f71</anchor>
      <arglist>(const boost::shared_ptr&lt; ::urdf::ModelInterface &gt; urdfTree, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModelFromXML</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a978d2feb719213a3359869e12f528fc8</anchor>
      <arglist>(const std::string &amp;xml_stream, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointModel &amp;rootJoint, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModelFromXML</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>af03913ffd82838370b265858b2138429</anchor>
      <arglist>(const std::string &amp;xml_stream, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>utils.cpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/urdf/</path>
    <filename>utils_8cpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::urdf</namespace>
    <namespace>pinocchio::urdf::details</namespace>
    <member kind="function">
      <type>SE3</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa6f69194ca0ef5bce4fc2b2777fdaf25</anchor>
      <arglist>(const ::urdf::Pose &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>urdf/utils.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/urdf/</path>
    <filename>urdf_2utils_8hpp</filename>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::urdf</namespace>
    <namespace>pinocchio::urdf::details</namespace>
    <member kind="function">
      <type>SE3</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa6f69194ca0ef5bce4fc2b2777fdaf25</anchor>
      <arglist>(const ::urdf::Pose &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>utils.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/parsers/</path>
    <filename>utils_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="enumeration">
      <type></type>
      <name>ModelFileExtensionType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2c8a5006d289e13c77bd15f99f7bde6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>UNKNOWN</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2c8a5006d289e13c77bd15f99f7bde6faee9c72cd35f4c508a793ad7cc816fbf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>URDF</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2c8a5006d289e13c77bd15f99f7bde6fae0d21bb870bb48d8cf3e795061b8b5c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ModelFileExtensionType</type>
      <name>checkModelFileExtension</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a74293805b9a52087c9fa447a3ba1050e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>retrieveResourcePath</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ace99575de78dca42b0b7fcc916454c8f</anchor>
      <arglist>(const std::string &amp;string, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/pinocchio/utils.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/</path>
    <filename>bindings_2python_2pinocchio_2utils_8py</filename>
    <namespace>pinocchio::utils</namespace>
    <member kind="function">
      <type>def</type>
      <name>cross</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a44f6a8d6a04259d4fe905b36e0ba9964</anchor>
      <arglist>(a, b)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>eye</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a4478c349acb50e9dc4c581b04712ddf7</anchor>
      <arglist>(n)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>fromListToVectorOfString</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a97e3496f30525b1d0e6bb0beab71a8ca</anchor>
      <arglist>(items)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>isapprox</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aa379cd7c94d5917c83f119a1616a2dc9</anchor>
      <arglist>(a, b, epsilon=1e-6)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>mprint</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aae526b29c08b4cb314374d536f6fcb17</anchor>
      <arglist>(M, name=&quot;ans&quot;, eps=1e-15)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>npToTTuple</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a0209bbd69cb5966e7678c5b4a6e2a0bf</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>npToTuple</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>afe975c04cd36157869ea93efea9adedf</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rand</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>ac34743124c85533494ac7db434ebcdc0</anchor>
      <arglist>(n)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>se3ToXYZQUAT</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aa42d209fcc671ced1641ce7aa0b747f2</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aa58f28724a19d14a837c50c400b3fafc</anchor>
      <arglist>(p)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>XYZQUATToSe3</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a096b60c0e3191bb7340c69bddd5ad34c</anchor>
      <arglist>(vec)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>zero</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a729c037a9443eba5b1995aa94fd0b01e</anchor>
      <arglist>(n)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>afb82191278328fcb3f5da0259ce3a23e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/python/utils.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>unittest_2python_2utils_8py</filename>
    <class kind="class">utils::TestUtils</class>
    <namespace>utils</namespace>
  </compound>
  <compound kind="file">
    <name>value.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>value_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>value_8cpp.html</anchorfile>
      <anchor>a50147870572a54d75195292d45035cf3</anchor>
      <arglist>(test_000)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>value_8cpp.html</anchorfile>
      <anchor>a2a4c28c78920fdac33fa22cb845ba096</anchor>
      <arglist>(test_0V0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>value_8cpp.html</anchorfile>
      <anchor>ac43219ae044009c4a88e742bebd7a629</anchor>
      <arglist>(test_0VA)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>value_8cpp.html</anchorfile>
      <anchor>a22ae96c23a0bca07b6cb4a03585f1cb0</anchor>
      <arglist>(test_Q00)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>value_8cpp.html</anchorfile>
      <anchor>a95d00ae043515948555a5772ddf20814</anchor>
      <arglist>(test_QVA)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>vector-space.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/liegroup/</path>
    <filename>vector-space_8hpp</filename>
    <class kind="struct">pinocchio::traits&lt; VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::VectorSpaceOperationTpl</class>
    <class kind="struct">pinocchio::VectorSpaceOperationTpl</class>
    <namespace>pinocchio</namespace>
  </compound>
  <compound kind="file">
    <name>vector.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>vector_8cpp</filename>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>vector_8cpp.html</anchorfile>
      <anchor>a3e656486408fb21cedef1f099edbd56b</anchor>
      <arglist>(test_isNormalized)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>vector.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/serialization/</path>
    <filename>vector_8hpp</filename>
    <namespace>boost</namespace>
    <namespace>boost::serialization</namespace>
    <member kind="function">
      <type>const nvp&lt; std::vector&lt; T, Allocator &gt; &gt;</type>
      <name>make_nvp</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a8552b9a0512be067c4ea6b1ffc05cd01</anchor>
      <arglist>(const char *name, std::vector&lt; T, Allocator &gt; &amp;t)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/utils/version.cpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>bindings_2python_2utils_2version_8cpp</filename>
    <includes id="constant_8hpp" name="constant.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/constant.hpp</includes>
    <includes id="bindings_2python_2utils_2version_8hpp" name="bindings/python/utils/version.hpp" local="yes" imported="no">pinocchio/bindings/python/utils/version.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeVersion</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2cb3c900d6b76ba935bffb8efd24d160</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>unittest/version.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>unittest_2version_8cpp</filename>
    <includes id="unittest_2utils_2macros_8hpp" name="unittest/utils/macros.hpp" local="yes" imported="no">utils/macros.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>unittest_2version_8cpp.html</anchorfile>
      <anchor>a5a2157104d9c22cec0fa0ac580c4e057</anchor>
      <arglist>(test_version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/utils/version.hpp</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/utils/</path>
    <filename>bindings_2python_2utils_2version_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">pinocchio/bindings/python/fwd.hpp</includes>
    <namespace>pinocchio</namespace>
    <namespace>pinocchio::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeVersion</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2cb3c900d6b76ba935bffb8efd24d160</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/utils/version.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/utils/</path>
    <filename>src_2utils_2version_8hpp</filename>
    <namespace>pinocchio</namespace>
    <member kind="function">
      <type>bool</type>
      <name>checkVersionAtLeast</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a99ce124d6accd23b7901c9b4a9edd882</anchor>
      <arglist>(unsigned int major_version, unsigned int minor_version, unsigned int patch_version)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>printVersion</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a359eb29491fe39a5e51e9a51d84c7f9f</anchor>
      <arglist>(const std::string &amp;delimiter=&quot;.&quot;)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>version.py</name>
    <path>/tmp/ws/src/pinocchio/unittest/python/</path>
    <filename>version_8py</filename>
    <class kind="class">version::TestVersion</class>
    <namespace>version</namespace>
  </compound>
  <compound kind="file">
    <name>visitor.cpp</name>
    <path>/tmp/ws/src/pinocchio/unittest/</path>
    <filename>visitor_8cpp</filename>
    <class kind="struct">AppendJointToModel</class>
    <class kind="struct">init</class>
    <class kind="struct">init</class>
    <class kind="struct">init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</class>
    <class kind="struct">SimpleBinaryVisitor1</class>
    <class kind="struct">SimpleBinaryVisitor2</class>
    <class kind="struct">SimpleBinaryVisitor3</class>
    <class kind="struct">SimpleBinaryVisitor4</class>
    <class kind="struct">SimpleUnaryVisitor1</class>
    <class kind="struct">SimpleUnaryVisitor2</class>
    <class kind="struct">SimpleUnaryVisitor3</class>
    <class kind="struct">SimpleUnaryVisitor4</class>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>visitor_8cpp.html</anchorfile>
      <anchor>ab397a8c66472188cf82c69e4316decb0</anchor>
      <arglist>(test_run_over_all_joints_unary_visitor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>visitor_8cpp.html</anchorfile>
      <anchor>a92708be680104a4722f3addd56765ff2</anchor>
      <arglist>(test_run_over_all_joints_binary_visitor)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>visitor.hpp</name>
    <path>/tmp/ws/src/pinocchio/src/multibody/</path>
    <filename>visitor_8hpp</filename>
  </compound>
  <compound kind="file">
    <name>xm.py</name>
    <path>/tmp/ws/src/pinocchio/bindings/python/pinocchio/derivative/</path>
    <filename>xm_8py</filename>
    <namespace>xm</namespace>
    <member kind="variable">
      <type></type>
      <name>aq</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a1e4b847cd1942eb0b85e8e0ce80e8334</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>C</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a49cd93325c7c0ff25e283cfbd16fc458</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>coriolis</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a36fae568a9465260057fa507e5cdc871</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dcrba</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>ad1ffd30b9ff5354ebebfaf086c1c8b9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>drnea</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>ac4dd0df85a33786c1f2bfeade691919f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mp</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a79bb3dde04f802f15f3bb48600ccaf7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a14f04dd0d63ebaf64216aebb35ce8d02</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>aa2bc13f7b39d242899e56b4fc50374b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a5873e42c25abb944e9b25ca9809babc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vq</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a4c4c0b8a08638d4b27340621ed68e952</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::A1Loader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</anchorfile>
      <anchor>a93d360c66603ad45a51be80bb1a6859e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</anchorfile>
      <anchor>a5da271cd81686ea997ea6d8e934460d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</anchorfile>
      <anchor>a550f0babe4beeda54490db51f1f66591</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</anchorfile>
      <anchor>ab9678253b58fea5ab9a49c6cb8d8dcc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</anchorfile>
      <anchor>a2c80c35d8caf2066742159034a3398f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1A1Loader.html</anchorfile>
      <anchor>a9bc30beae349324edc4a3a07bc6ec932</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fcl::AABB</name>
    <filename>structpinocchio_1_1fcl_1_1AABB.html</filename>
    <member kind="function">
      <type></type>
      <name>AABB</name>
      <anchorfile>structpinocchio_1_1fcl_1_1AABB.html</anchorfile>
      <anchor>a132094b7f69c7fff506f4df37d4ec022</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_</name>
      <anchorfile>structpinocchio_1_1fcl_1_1AABB.html</anchorfile>
      <anchor>a747c6e79be1802648437723030d1d0bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>min_</name>
      <anchorfile>structpinocchio_1_1fcl_1_1AABB.html</anchorfile>
      <anchor>a98fb46b5d99a6aa814134ff3e9829d22</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::AlgorithmCheckerBase</name>
    <filename>structpinocchio_1_1AlgorithmCheckerBase.html</filename>
    <templarg>AlgorithmCheckerDerived</templarg>
    <member kind="function">
      <type>bool</type>
      <name>checkModel</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>aeb1154a3ffa832650010cfeb45289e9c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model) const</arglist>
    </member>
    <member kind="function">
      <type>AlgorithmCheckerDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>a986e5b3cf58155f9d5799c22a7e2bb4a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const AlgorithmCheckerDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>a875ddcd3994b5c58b7d0369fc2a05e58</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>AlgorithmCheckerBase&lt; AlgorithmCheckerList&lt; BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)&gt; &gt;</name>
    <filename>structpinocchio_1_1AlgorithmCheckerBase.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>checkModel</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>aeb1154a3ffa832650010cfeb45289e9c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model) const</arglist>
    </member>
    <member kind="function">
      <type>AlgorithmCheckerList&lt; BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)&gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>a986e5b3cf58155f9d5799c22a7e2bb4a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const AlgorithmCheckerList&lt; BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)&gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>a875ddcd3994b5c58b7d0369fc2a05e58</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>AlgorithmCheckerBase&lt; Check1 &gt;</name>
    <filename>structpinocchio_1_1AlgorithmCheckerBase.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>checkModel</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>aeb1154a3ffa832650010cfeb45289e9c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model) const</arglist>
    </member>
    <member kind="function">
      <type>Check1 &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>a986e5b3cf58155f9d5799c22a7e2bb4a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Check1 &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerBase.html</anchorfile>
      <anchor>a875ddcd3994b5c58b7d0369fc2a05e58</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::AlgorithmCheckerList</name>
    <filename>structpinocchio_1_1AlgorithmCheckerList.html</filename>
    <templarg></templarg>
    <base>AlgorithmCheckerBase&lt; AlgorithmCheckerList&lt; BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)&gt; &gt;</base>
    <member kind="typedef">
      <type>boost::fusion::list&lt; BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, D)&gt;</type>
      <name>ArgType</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerList.html</anchorfile>
      <anchor>a721c563370cdaa3d6add9786142ae208</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>AlgorithmCheckerList</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerList.html</anchorfile>
      <anchor>af69ebc2bdec81c90bf3abcbb494fc4e1</anchor>
      <arglist>(const ArgType &amp;checkerList)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkModel_impl</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerList.html</anchorfile>
      <anchor>a57bf88246f5d5a0d7b0522ea323a7bc9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model) const</arglist>
    </member>
    <member kind="variable">
      <type>const ArgType &amp;</type>
      <name>checkerList</name>
      <anchorfile>structpinocchio_1_1AlgorithmCheckerList.html</anchorfile>
      <anchor>ae6b6eea3d5da7353d002df3cf5a2b18c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::container::aligned_vector</name>
    <filename>structpinocchio_1_1container_1_1aligned__vector.html</filename>
    <templarg>T</templarg>
    <member kind="typedef">
      <type>vector_base::allocator_type</type>
      <name>allocator_type</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a5148a4acf36c07ae501ed6383a2dd348</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const vector_base &amp;</type>
      <name>const_vector_base_ref</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a16c19b07a73961ebce98ade7bb61d591</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>vector_base::iterator</type>
      <name>iterator</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>abce9d30adeaa458d8712e3fcd0f36857</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>vector_base::size_type</type>
      <name>size_type</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a0df3930bc0c9bfef01ce073ac2282008</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>T</type>
      <name>value_type</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a8a9c85efecf6978b77fdc8e693532991</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt; &gt;</type>
      <name>vector_base</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>ab5854bcd9da87ad3b91fd32960b9fb9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>vector_base &amp;</type>
      <name>vector_base_ref</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a131c1c817e2c11216f67f9093f73aab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>aligned_vector</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a9a490912d1aeefefdb5398df5fd1d5a7</anchor>
      <arglist>(const allocator_type &amp;a=allocator_type())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>aligned_vector</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a94e5b3e10b8c4cddd266380d9dfb5e5b</anchor>
      <arglist>(InputIterator first, InputIterator last, const allocator_type &amp;a=allocator_type())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>aligned_vector</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>ad2f65689766af565dd6661bdee9f93af</anchor>
      <arglist>(const aligned_vector &amp;c)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>aligned_vector</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a3c6576f8e89b5d4f55a20ade8348793b</anchor>
      <arglist>(size_type num, const value_type &amp;val=value_type())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>aligned_vector</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>af52083687712d5c8fe40f74f30ee9432</anchor>
      <arglist>(iterator start, iterator end)</arglist>
    </member>
    <member kind="function">
      <type>vector_base &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a8fe8916420aeaee5ed82e32bc0d0651b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const vector_base &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a8119d54fe9688bb3260fb82b535271c5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>aligned_vector &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1container_1_1aligned__vector.html</anchorfile>
      <anchor>a7d070be0ebf63bd2b93ca4e8c26b3911</anchor>
      <arglist>(const aligned_vector &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Symmetric3Tpl::AlphaSkewSquare</name>
    <filename>structpinocchio_1_1Symmetric3Tpl_1_1AlphaSkewSquare.html</filename>
    <member kind="function">
      <type></type>
      <name>AlphaSkewSquare</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1AlphaSkewSquare.html</anchorfile>
      <anchor>aab1fe499b2b95ee1b99391128c030446</anchor>
      <arglist>(const Scalar &amp;m, const SkewSquare &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>AlphaSkewSquare</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1AlphaSkewSquare.html</anchorfile>
      <anchor>a7830f74b70aac8381e4fbb63968f5bee</anchor>
      <arglist>(const Scalar &amp;m, const Vector3 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Symmetric3Tpl</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1AlphaSkewSquare.html</anchorfile>
      <anchor>abaf946e8cdece07cc85dc92e23fc7bb7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable">
      <type>const Scalar &amp;</type>
      <name>m</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1AlphaSkewSquare.html</anchorfile>
      <anchor>ac26ed63fcbf879bf2da3ee187fe8ad1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const Vector3 &amp;</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1AlphaSkewSquare.html</anchorfile>
      <anchor>a03dc8015100bf6ead3f5df97296106b0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>lambdas::ancestorOf</name>
    <filename>classlambdas_1_1ancestorOf.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__contains__</name>
      <anchorfile>classlambdas_1_1ancestorOf.html</anchorfile>
      <anchor>a04692adb4cad8e764b88eee37b8abbed</anchor>
      <arglist>(self, anc)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classlambdas_1_1ancestorOf.html</anchorfile>
      <anchor>ac51d8b78d4cf6fc8c9cb2d2d668a98ce</anchor>
      <arglist>(self, i, robot)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dec</name>
      <anchorfile>classlambdas_1_1ancestorOf.html</anchorfile>
      <anchor>a0221d4e630d4c87f18d36a845e2fb16d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classlambdas_1_1ancestorOf.html</anchorfile>
      <anchor>a801a5665798baa140eb2e1b00743ebcf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::ANYmalKinovaLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1ANYmalKinovaLoader.html</filename>
    <base>example_robot_data::robots_loader::ANYmalLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalKinovaLoader.html</anchorfile>
      <anchor>ae1fd1caffb677690778b6570f32b3914</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalKinovaLoader.html</anchorfile>
      <anchor>a5a1af8f79f1e4c6c91224c015eb8bb09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalKinovaLoader.html</anchorfile>
      <anchor>a860bb58d76ff6257536d54b21c62d63a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::ANYmalLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1ANYmalLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalLoader.html</anchorfile>
      <anchor>a989ce57469e2628f2c795ce8377f701d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalLoader.html</anchorfile>
      <anchor>a36224029cab05ae0b31c31eab0c53a86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalLoader.html</anchorfile>
      <anchor>a87ee6594e3bd28c73e7a5ee01ab10a61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalLoader.html</anchorfile>
      <anchor>a5417714cbf44a33d7b8b0c088d15b6c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ANYmalLoader.html</anchorfile>
      <anchor>a2f7a419f20d6be2c59d3a8efba5f0b76</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>AppendJointToModel</name>
    <filename>structAppendJointToModel.html</filename>
    <member kind="function">
      <type></type>
      <name>AppendJointToModel</name>
      <anchorfile>structAppendJointToModel.html</anchorfile>
      <anchor>a5e23d6db03c963265c576948577fd5b5</anchor>
      <arglist>(pinocchio::Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structAppendJointToModel.html</anchorfile>
      <anchor>a534395a82cc4619f6b34c0af5fc9ddf6</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="variable">
      <type>pinocchio::Model &amp;</type>
      <name>model</name>
      <anchorfile>structAppendJointToModel.html</anchorfile>
      <anchor>aa9562e0f83cfaeac7608f616e54b6501</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::apply_op_if</name>
    <filename>structpinocchio_1_1apply__op__if.html</filename>
    <templarg></templarg>
    <templarg>condition</templarg>
    <templarg>default_return_value</templarg>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>op</name>
      <anchorfile>structpinocchio_1_1apply__op__if.html</anchorfile>
      <anchor>a544531a0bee81569ccc8a1615c52b95a</anchor>
      <arglist>(const T1 &amp;, const T2 &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::apply_op_if&lt; OP, true, default_return_value &gt;</name>
    <filename>structpinocchio_1_1apply__op__if_3_01OP_00_01true_00_01default__return__value_01_4.html</filename>
    <templarg></templarg>
    <templarg>default_return_value</templarg>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>op</name>
      <anchorfile>structpinocchio_1_1apply__op__if_3_01OP_00_01true_00_01default__return__value_01_4.html</anchorfile>
      <anchor>ac96db023035fef1b33d861e97095f6b9</anchor>
      <arglist>(const T1 &amp;a, const T2 &amp;b)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::internal::function_wrapper&lt; R(*)(Args...)&gt;::arg</name>
    <filename>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4_1_1arg.html</filename>
    <templarg>i</templarg>
    <member kind="typedef">
      <type>std::tuple_element&lt; i, std::tuple&lt; Args... &gt; &gt;::type</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4_1_1arg.html</anchorfile>
      <anchor>ac8f79e60dc84424280f1e5a4a90db065</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::helper::argument_type</name>
    <filename>structpinocchio_1_1helper_1_1argument__type.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::helper::argument_type&lt; T(U)&gt;</name>
    <filename>structpinocchio_1_1helper_1_1argument__type_3_01T_07U_08_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>U</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1helper_1_1argument__type_3_01T_07U_08_4.html</anchorfile>
      <anchor>a499d3ab22e05c3945cef2c8d8f7f77f9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::array</name>
    <filename>structEigen_1_1array.html</filename>
    <templarg>T</templarg>
    <templarg>n</templarg>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T &amp;</type>
      <name>back</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a32c7d69554a18b05b6c7b52d9744ff5e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T &amp;</type>
      <name>back</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a7abe26988254e5c892288003ae1c17ae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T &amp;</type>
      <name>front</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a8a1dd3892a6ed3f467f9028937364ff1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T &amp;</type>
      <name>front</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a6aec8186a7e5238df83def54d6723d5c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T &amp;</type>
      <name>operator[]</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a0685bf062d0186b34a6cff47c953d7ef</anchor>
      <arglist>(size_t index)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T &amp;</type>
      <name>operator[]</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a773e8683e5b0875c4f708c68c5379cd0</anchor>
      <arglist>(size_t index) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE std::size_t</type>
      <name>size</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a332ffdbd5ae2690a6f983959baecc972</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>T</type>
      <name>values</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a8534b8a1b51f270bca4d872c77ccf5cb</anchor>
      <arglist>[n]</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>array&lt; Index, NumIndices_ &gt;</name>
    <filename>structEigen_1_1array.html</filename>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index &amp;</type>
      <name>back</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a32c7d69554a18b05b6c7b52d9744ff5e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Index &amp;</type>
      <name>back</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a7abe26988254e5c892288003ae1c17ae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index &amp;</type>
      <name>front</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a8a1dd3892a6ed3f467f9028937364ff1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Index &amp;</type>
      <name>front</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a6aec8186a7e5238df83def54d6723d5c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index &amp;</type>
      <name>operator[]</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a0685bf062d0186b34a6cff47c953d7ef</anchor>
      <arglist>(size_t index)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Index &amp;</type>
      <name>operator[]</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a773e8683e5b0875c4f708c68c5379cd0</anchor>
      <arglist>(size_t index) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE std::size_t</type>
      <name>size</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a332ffdbd5ae2690a6f983959baecc972</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Index</type>
      <name>values</name>
      <anchorfile>structEigen_1_1array.html</anchorfile>
      <anchor>a8534b8a1b51f270bca4d872c77ccf5cb</anchor>
      <arglist>[n]</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::AsrTwoDofLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1AsrTwoDofLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1AsrTwoDofLoader.html</anchorfile>
      <anchor>a8902fa402576255640159dba2888a331</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1AsrTwoDofLoader.html</anchorfile>
      <anchor>a87a9660b4f879cc576f24de92ad416d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1AsrTwoDofLoader.html</anchorfile>
      <anchor>aed37775616c247d0f1ab6edd09a506b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::base_visualizer::BaseVisualizer</name>
    <filename>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a8936c7fa4b7c95fbe8ff0c96d967a889</anchor>
      <arglist>(self, model=pin.Model(), collision_model=None, visual_model=None, copy_models=False, data=None, collision_data=None, visual_data=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>captureImage</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ad4eab35e37a2f89d9479417dc7e27ace</anchor>
      <arglist>(self, w=None, h=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>clean</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a1a39a7b05a380be763de832bfdea5ce8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>create_video_ctx</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ab6afed655acd557f0560eea32a072bbe</anchor>
      <arglist>(self, filename=None, fps=30, directory=None, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>disableCameraControl</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a752ba9d02a131404185d20dd9a260154</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a931388dcce9807acb735f63b56dd9fc0</anchor>
      <arglist>(self, q=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ace9afa8402158d423143851f2340576f</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayVisuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>adbb96227b77fb013efa97c6bf72517bc</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>drawFrameVelocities</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ac350c5ed04fe7cd29a1295f84e4399d4</anchor>
      <arglist>(self, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>enableCameraControl</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a18a6b3904616cd993d0196aba0b79be2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getViewerNodeName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a4d2f4b1a569e853e1f5f47fbcc9818d2</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>has_video_writer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a4e92a42c5be0a112a7508e3b486999ad</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initViewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a9e4073cc426969f8c38aca8adba33409</anchor>
      <arglist>(self, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerModel</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a528d243717d415a31499d274a6778e38</anchor>
      <arglist>(self, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>play</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ae89db4daaf476475b8862e07eb9545de</anchor>
      <arglist>(self, q_trajectory, dt=None, callback=None, capture=False, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rebuildData</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a798290a615031f1552cb0c9bbad5afb1</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>reload</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a52cd16a44ceacbe68474b530feb99308</anchor>
      <arglist>(self, new_geometry_object, geometry_type=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setBackgroundColor</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>abc1bcea8b3bc9eec05fe9478d9e035b0</anchor>
      <arglist>(self, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraPose</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a9bb5bf4d820cfdaf7b6bdee1656b5753</anchor>
      <arglist>(self, pose=np.eye(4))</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraPosition</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a95dd3022ea37d210711a880cc4474785</anchor>
      <arglist>(self, position)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraTarget</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ace710a6b75cc6801f08ae327c312dfe8</anchor>
      <arglist>(self, target)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraZoom</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a9a747dfb425aff0b6116480a1beab952</anchor>
      <arglist>(self, zoom)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>sleep</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a5f5d8406b6ebd3c83eb3586db23a57ae</anchor>
      <arglist>(self, dt)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_data</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a8a09732f33e579b1ab1003dc160620b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a46cbcb94c74867f8bb2798deff715745</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a3cf0567ea30c13490e09e2e9a47aab46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a34db4af86b6fe1cd144d97fdbd90058d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_data</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a631d002258cbe4fa3119377624a07270</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>ab4d6df8c47bb8b4649d85fbf6557eff7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type></type>
      <name>_video_writer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1BaseVisualizer.html</anchorfile>
      <anchor>a2db927160675f5e33344122989c9598d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::BaxterLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1BaxterLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BaxterLoader.html</anchorfile>
      <anchor>a8e51169c74f20fb352857c6bdf121da2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BaxterLoader.html</anchorfile>
      <anchor>aa18476fa872e745a9a6b86276914ceb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BaxterLoader.html</anchorfile>
      <anchor>a378282797998fff011b4cbe71b5670ec</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::BiasZeroTpl</name>
    <filename>structpinocchio_1_1BiasZeroTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <base>pinocchio::MotionZeroTpl</base>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1BiasZeroTpl.html</anchorfile>
      <anchor>a55f42d3007ac2d4477ba6c9f82018317</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BiasZeroTpl</name>
      <anchorfile>structpinocchio_1_1BiasZeroTpl.html</anchorfile>
      <anchor>a82b610d5a662721b091c059cb394358c</anchor>
      <arglist>(const Base &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ForceSetTpl::Block</name>
    <filename>structpinocchio_1_1ForceSetTpl_1_1Block.html</filename>
    <member kind="function">
      <type>Eigen::Block&lt; ForceSetTpl::Matrix3x &gt;</type>
      <name>angular</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a3ad2b78c2c666935323e210634c6075b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Block&lt; const ForceSetTpl::Matrix3x &gt;</type>
      <name>angular</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a490770c85cf1457323d053389df3ea02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Block</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a6493eee7f190106b48c96358ef46565e</anchor>
      <arglist>(ForceSetTpl &amp;ref, const int &amp;idx, const int &amp;len)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Block&lt; ForceSetTpl::Matrix3x &gt;</type>
      <name>linear</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a75125e38d2ce4160a716ac88267d62be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Block&lt; const ForceSetTpl::Matrix3x &gt;</type>
      <name>linear</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a1a7941edddc166363bb101109a87c34c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForceSetTpl::Matrix6x</type>
      <name>matrix</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>ac17206644ce0fa55a1f61ea4a95e35d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Block &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>ac75041bb99b8048d2512c26a39058204</anchor>
      <arglist>(const ForceSetTpl &amp;copy)</arglist>
    </member>
    <member kind="function">
      <type>Block &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a4b940085e993b77142a2699eaf68a787</anchor>
      <arglist>(const ForceSetTpl::Block &amp;copy)</arglist>
    </member>
    <member kind="function">
      <type>Block &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a0afa47fa6763d1885a3f6be7f057e9d5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>ForceSetTpl</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a31757a05daeb3d221eee83ddec19268e</anchor>
      <arglist>(const SE3 &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ForceSetTpl</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a5200de6dd502daadb6ae2278c9e46b46</anchor>
      <arglist>(const SE3 &amp;m) const</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>idx</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>a53597d0b29b35f9e3b1cfcf3b06187d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>len</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>aacbd18d046dd85b406cfe79da9644079</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ForceSetTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ForceSetTpl_1_1Block.html</anchorfile>
      <anchor>acfb6a82aecd6ef4bc2aee78bedf382cf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType::BlockReturn</name>
    <filename>structpinocchio_1_1SizeDepType_1_1BlockReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>const Eigen::Block&lt; const Mat, NV, NV &gt;</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1BlockReturn.html</anchorfile>
      <anchor>a597e86eb5024a0b367d0572817294d49</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Block&lt; Mat, NV, NV &gt;</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1BlockReturn.html</anchorfile>
      <anchor>a454532e1f728f9be62d6c16b931dd2e3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::BlockReturn</name>
    <filename>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1BlockReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>const Eigen::Block&lt; const Mat &gt;</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1BlockReturn.html</anchorfile>
      <anchor>aff1f24595b7fd8189550c4eb06bda785</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Block&lt; Mat &gt;</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1BlockReturn.html</anchorfile>
      <anchor>aad17ad75855eb7bc1cac8a5ff0233b56</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::BoltLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1BoltLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BoltLoader.html</anchorfile>
      <anchor>ae2de2fec61a7789701c08907d7f7cdbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BoltLoader.html</anchorfile>
      <anchor>a065a78170d2f406caa09980c025fe9f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BoltLoader.html</anchorfile>
      <anchor>a10cdbb4d8619de1c808ee024888c2ce8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BoltLoader.html</anchorfile>
      <anchor>a4f5ffdeca5a2322213d600ccd6bd2f41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1BoltLoader.html</anchorfile>
      <anchor>aa4e683047bcdcc8f3e5f709193c1d912</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>buildModel</name>
    <filename>structbuildModel.html</filename>
    <templarg>JointModel</templarg>
    <member kind="function" static="yes">
      <type>static Model</type>
      <name>run</name>
      <anchorfile>structbuildModel.html</anchorfile>
      <anchor>a440383257e48a7207d4a69ab5911351d</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>buildModel&lt; JointModelMimic&lt; JointModel &gt; &gt;</name>
    <filename>structbuildModel_3_01JointModelMimic_3_01JointModel_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointModelMimic&lt; JointModel &gt;</type>
      <name>JointModel_</name>
      <anchorfile>structbuildModel_3_01JointModelMimic_3_01JointModel_01_4_01_4.html</anchorfile>
      <anchor>a88ae56d6983dde19c88b7d943a60dc82</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Model</type>
      <name>run</name>
      <anchorfile>structbuildModel_3_01JointModelMimic_3_01JointModel_01_4_01_4.html</anchorfile>
      <anchor>ae7ecd4263ec496dd8444e8e6c6112158</anchor>
      <arglist>(const JointModel_ &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::call</name>
    <filename>structpinocchio_1_1python_1_1call.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::call&lt; ForceTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1python_1_1call_3_01ForceTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01ForceTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aed7f5a8334f176d74499b05c31928c6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01ForceTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>afb22e9bc8c9376368afb0fccacc4b624</anchor>
      <arglist>(const Force &amp;self, const Force &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isZero</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01ForceTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3aff588eaa31f73befb9f21c9d8fbf7e</anchor>
      <arglist>(const Force &amp;self, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::call&lt; InertiaTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1python_1_1call_3_01InertiaTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01InertiaTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a61b080656677e6fa12fc2d89c7647486</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01InertiaTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae60457a91f05f726e9511ca5a84fa136</anchor>
      <arglist>(const Inertia &amp;self, const Inertia &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isZero</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01InertiaTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>abf11868ebe11bab1201b19097bc8a54b</anchor>
      <arglist>(const Inertia &amp;self, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::call&lt; MotionTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1python_1_1call_3_01MotionTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01MotionTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ac8717320867f53914f6ed24c5614c54f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01MotionTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a444d09525ed77d86ebdbd5945a037e23</anchor>
      <arglist>(const Motion &amp;self, const Motion &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isZero</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01MotionTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a795839c7753839f931722461bd6086e9</anchor>
      <arglist>(const Motion &amp;self, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::call&lt; SE3Tpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1python_1_1call_3_01SE3Tpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01SE3Tpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>acd92b359f68366f8cea5e417606f3fad</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1python_1_1call_3_01SE3Tpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a837695812467ba082e36fc64cdd5d82d</anchor>
      <arglist>(const SE3 &amp;self, const SE3 &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>call_equality_op</name>
    <filename>structcall__equality__op.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structcall__equality__op.html</anchorfile>
      <anchor>a8f677ec34d37b2bb5ba25c88a71a2516</anchor>
      <arglist>(const T1 &amp;v1, const T2 &amp;v2)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::math::internal::call_max&lt; ::casadi::Matrix&lt; S1 &gt;, S2 &gt;</name>
    <filename>structpinocchio_1_1math_1_1internal_1_1call__max_3_01_1_1casadi_1_1Matrix_3_01S1_01_4_00_01S2_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; S1 &gt;</type>
      <name>CasadiType</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1call__max_3_01_1_1casadi_1_1Matrix_3_01S1_01_4_00_01S2_01_4.html</anchorfile>
      <anchor>a9f7c270e5f91c555d455986d8c72eac6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static inline ::casadi::Matrix&lt; S1 &gt;</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1call__max_3_01_1_1casadi_1_1Matrix_3_01S1_01_4_00_01S2_01_4.html</anchorfile>
      <anchor>a4458880787b61e3ee9ec41982ae8edf5</anchor>
      <arglist>(const ::casadi::Matrix&lt; S1 &gt; &amp;a, const S2 &amp;b)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::math::internal::call_max&lt; ::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1math_1_1internal_1_1call__max_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_1_1c31a4351f94c61f77f522662a84a65e7.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static inline ::casadi::Matrix&lt; Scalar &gt;</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1call__max_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_1_1c31a4351f94c61f77f522662a84a65e7.html</anchorfile>
      <anchor>aac7847b1a61e83df8f02580d98fa75b7</anchor>
      <arglist>(const ::casadi::Matrix&lt; Scalar &gt; &amp;a, const ::casadi::Matrix&lt; Scalar &gt; &amp;b)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::math::internal::call_max&lt; S1,::casadi::Matrix&lt; S2 &gt; &gt;</name>
    <filename>structpinocchio_1_1math_1_1internal_1_1call__max_3_01S1_00_1_1casadi_1_1Matrix_3_01S2_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; S2 &gt;</type>
      <name>CasadiType</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1call__max_3_01S1_00_1_1casadi_1_1Matrix_3_01S2_01_4_01_4.html</anchorfile>
      <anchor>a6f70ca04c741048b9e8b0369845d6ae5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static inline ::casadi::Matrix&lt; S2 &gt;</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1call__max_3_01S1_00_1_1casadi_1_1Matrix_3_01S2_01_4_01_4.html</anchorfile>
      <anchor>a8d7c098f932025a3e4340c8eb06e0b56</anchor>
      <arglist>(const S1 &amp;a, const ::casadi::Matrix&lt; S2 &gt; &amp;b)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ocp::CallBack</name>
    <filename>classocp_1_1CallBack.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__call__</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>aeec5fa7b4f71bf1621c4b895e5e8fddc</anchor>
      <arglist>(self, U)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>a787f8f59a1cc10c431866b38b9d1f1a2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setWithDisplay</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>a0eb97278c0c21320c24254dc42074ef0</anchor>
      <arglist>(self, boolean=None)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>h_rwd</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>a89a3a8de59b997d10354aa70ba19548d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>iter</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>a58db4790d2af43acd6445ab9790b5f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>a8d1c593c400d82e90fcec0ba44636e6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>withdisplay</name>
      <anchorfile>classocp_1_1CallBack.html</anchorfile>
      <anchor>a59c0259db40d608e662d560a7329b034</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::CallCorrectMatrixInverseAccordingToScalar</name>
    <filename>structpinocchio_1_1internal_1_1CallCorrectMatrixInverseAccordingToScalar.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1CallCorrectMatrixInverseAccordingToScalar.html</anchorfile>
      <anchor>ab041ec788360368e149e7746327c98bb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixIn &gt; &amp;m_in, const Eigen::MatrixBase&lt; MatrixOut &gt; &amp;dest)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::CallCorrectMatrixInverseAccordingToScalar&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1internal_1_1CallCorrectMatrixInverseAccordingToScalar_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; Scalar &gt;</type>
      <name>SX</name>
      <anchorfile>structpinocchio_1_1internal_1_1CallCorrectMatrixInverseAccordingToScalar_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a7621f25b71d4df1dfdb2fa88aaba7a75</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1CallCorrectMatrixInverseAccordingToScalar_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a3924988de008be975c22b4de4fb0fbfb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixIn &gt; &amp;mat, const Eigen::MatrixBase&lt; MatrixOut &gt; &amp;dest)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CartesianAxis</name>
    <filename>structpinocchio_1_1CartesianAxis.html</filename>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>aa5a15d42ec6ff6e45ec29b93ddef46fca92214607971a5cede196a7d98fe36984</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>dim</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>aa5a15d42ec6ff6e45ec29b93ddef46fca72972d012490609eb382985c583e6838</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>aa5a15d42ec6ff6e45ec29b93ddef46fca92214607971a5cede196a7d98fe36984</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>dim</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>aa5a15d42ec6ff6e45ec29b93ddef46fca72972d012490609eb382985c583e6838</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>alphaCross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>ac485e21793b63831ec7fc02ea36dd2fc</anchor>
      <arglist>(s, vin, res)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>alphaCross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a9828c0063387ef46a57b1d06cd19dc5a</anchor>
      <arglist>(const Scalar &amp;s, const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>alphaCross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a3ba137ebd5c417d2e7c58f5890e51f21</anchor>
      <arglist>(const Scalar &amp;s, const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>alphaCross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>ac1099561024a5aeae2c6a27c948955e6</anchor>
      <arglist>(const Scalar &amp;s, const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a8c8ece04edcdaafe61d8c97c62ac5fab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a1fd8cf7bf3c2cafa35bff80e74c6d9e4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>adda5f1e58edb3efd93a502ee60cffb33</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, dim, 1 &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a0eb708e88d77a0f3ded679d345b2e26d</anchor>
      <arglist>(const Scalar &amp;s) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>alphaCross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a20001a5d74e1a63a0961dddbbe9658c4</anchor>
      <arglist>(const Scalar &amp;s, const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>acb97181ed4f5c5f71c2a073b9b245409</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3_in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3_out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a45ad06e8b533fd76308a4274ba010c35</anchor>
      <arglist>(V3) cross(const Eigen</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a4353928bac72bb58c13c1c401d7e4e93</anchor>
      <arglist>(V3) alphaCross(const Scalar &amp;s</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>ae483084e311243fb26094bffd0e17499</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; v3)</arglist>
    </member>
    <member kind="variable">
      <type>return</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a7e24ccb18813408747a38005ba4b4f82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>static const Eigen::MatrixBase&lt; V3 &gt; &amp;</type>
      <name>vin</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>a95f428a960106f431015ca4a4cdff83d</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend Eigen::Matrix&lt; Scalar, dim, 1 &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1CartesianAxis.html</anchorfile>
      <anchor>aec652c63ac82242460c6af3bf6f79849</anchor>
      <arglist>(const Scalar &amp;s, const CartesianAxis &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CartesianProductOperation</name>
    <filename>structpinocchio_1_1CartesianProductOperation.html</filename>
    <templarg>LieGroup1</templarg>
    <templarg>LieGroup2</templarg>
    <base>LieGroupBase&lt; CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>CartesianProductOperation</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a6ce3169b03b9cb016cc421c24a94db4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a29f458c6d1e3de55adca770dd9512670</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ad18d0eee6375fb14cbbffbe962d4cc54</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a5877d5caa8c50f5d64460a6d679a2f71</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a93ab7ab326dc4535facc3a266ed4e745</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>aee10d76b221dd3a32367e792df895e8d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a2ef3f76ec6f1354326c489222eac0617</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;Jin) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ab5283bdcf6f617eb14e393b5a21a3f70</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a64b6429a8a8d4c4b7d741f7a583e93c6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;Jin) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ac2431ac7f0884ba60d28039d2bb41f54</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a7c4a99470632c6a0cf649a939ba8e9cd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ae20f781d7fb102328be977d9e9430394</anchor>
      <arglist>(const CartesianProductOperation &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ad592ce2538f45331f4bc157a7302f0d2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a354d5beb01ba8d6261c271d8eab6036e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ab8e486c35759a7ff9e882f91861f0178</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a35e8e81911bdc1fd4822669b712c1822</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a0964b33afa039ce07487e4108a799efd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a2581970abb2e604e71a41231ce4caa95</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>ac60107743da7986e04064e2b2783d32b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a9c33646b36f8b2c12e216eb753df013a</anchor>
      <arglist>(CartesianProductOperation)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>acc218092a34627a6ac0f7cb496cc22f1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a4b099ccf360d1e032ff45ce8835e854a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>aeca66938ea6f76d83b3d2bb9747b06a7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="variable">
      <type>LieGroup1</type>
      <name>lg1</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a348de02bbd7454967e87403f84982e15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>LieGroup2</type>
      <name>lg2</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>af39bb163c210ce68dd2ac173334d3bd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Block&lt; Jac, LieGroup1::NV, LieGroup1::NV &gt;</type>
      <name>J11</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a0411aa4a121961f8760f264cece11c32</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Jac &gt; &amp;J) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Block&lt; Jac, LieGroup1::NV, LieGroup2::NV &gt;</type>
      <name>J12</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a6692a8aadef30275f4eb1b271c871333</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Jac &gt; &amp;J) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Block&lt; Jac, LieGroup2::NV, LieGroup1::NV &gt;</type>
      <name>J21</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a39b4cdfd5ddef27d8b98231f9ffb8df9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Jac &gt; &amp;J) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Block&lt; Jac, LieGroup2::NV, LieGroup2::NV &gt;</type>
      <name>J22</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a78da5ad0398dd882cd2630e72b867381</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Jac &gt; &amp;J) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Config ::template ConstFixedSegmentReturnType&lt; LieGroup1::NQ &gt;::Type</type>
      <name>Q1</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a3ddc4bc4dfd4084a034a83e0a8d94893</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config &gt; &amp;q) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Config ::template ConstFixedSegmentReturnType&lt; LieGroup2::NQ &gt;::Type</type>
      <name>Q2</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a3f1f6d9905761064b99ba00f0c68f020</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config &gt; &amp;q) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Config ::template FixedSegmentReturnType&lt; LieGroup1::NQ &gt;::Type</type>
      <name>Qo1</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a53f778680f8be57baae6492b0c67b715</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config &gt; &amp;q) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Config ::template FixedSegmentReturnType&lt; LieGroup2::NQ &gt;::Type</type>
      <name>Qo2</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a35e91853545719d01493cd3afb795225</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config &gt; &amp;q) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Tangent::template ConstFixedSegmentReturnType&lt; LieGroup1::NV &gt;::Type</type>
      <name>V1</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a354a6aedab3ea368fb8f7e5f5e77f6a2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Tangent &gt; &amp;v) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Tangent::template ConstFixedSegmentReturnType&lt; LieGroup2::NV &gt;::Type</type>
      <name>V2</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a5b49cb6efd60164de36508b035fc9d4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Tangent &gt; &amp;v) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Tangent::template FixedSegmentReturnType&lt; LieGroup1::NV &gt;::Type</type>
      <name>Vo1</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a3de2170679fcc9f7f823532a63763c87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Tangent &gt; &amp;v) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Tangent::template FixedSegmentReturnType&lt; LieGroup2::NV &gt;::Type</type>
      <name>Vo2</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperation.html</anchorfile>
      <anchor>a694ac4dc797765a427a2e18142ae5e9b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Tangent &gt; &amp;v) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CartesianProductOperationVariantTpl</name>
    <filename>structpinocchio_1_1CartesianProductOperationVariantTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>LieGroupCollectionTpl</templarg>
    <base>LieGroupBase&lt; CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>LieGroupCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>LieGroupCollection</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a911b8f5c643e1de9899bf8e2b3ed83a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGenericTpl&lt; LieGroupCollection &gt;</type>
      <name>LieGroupGeneric</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>adc943e97b1d11eba7a9ac03e1bc5a6bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollection::LieGroupVariant</type>
      <name>LieGroupVariant</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a52c16d383a247277e76066cc97080f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>append</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a67746e4f63e4b698462ac91abdf2150b</anchor>
      <arglist>(const LieGroupGeneric &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>append</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a0903f7f375618b38195ea3f11d384d43</anchor>
      <arglist>(const LieGroupBase&lt; LieGroupDerived &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CartesianProductOperationVariantTpl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a86c485dab0dd1ff26d5841e3da7fee93</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CartesianProductOperationVariantTpl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a1d401ff6560220e4a2182b290648e181</anchor>
      <arglist>(const LieGroupGeneric &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CartesianProductOperationVariantTpl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a78de617bf68573bf8c1f2c6caf396856</anchor>
      <arglist>(const LieGroupGeneric &amp;lg1, const LieGroupGeneric &amp;lg2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a6a683accbad6fd447eaa2d1311a7948f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a3fa7d0ea344f0c8c688ebc069fcacd6a</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a41deb6dad912acc01e41b748a8ad47a2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a6032fed771fc4d5338a76d9a88346724</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ac4e98d5af774af8a52f317debd50ceae</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ad08ab5f8c9248430f06ae04e12b59abe</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a539c14b742b5ebaa5033759260f1bac8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a549d5d2451533e8002d02db0e2f0587c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a41b7b24b8d9db83a66ea3894d7e0773b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ae2acf3f79bced2d40e91fcf9ebf98e3c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>af27af77e9ba8a0bebb676d197bb9475c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>add9706e7ac50f525162d039e251a6f75</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>aae000579a6ed64aefcef27002f323ad9</anchor>
      <arglist>(const CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a8fbdcbcd6820c05a28918e63460d2334</anchor>
      <arglist>(const CartesianProductOperationVariantTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ac8fd65413acb2653a93c0d10622d3ff6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a27e8fd4ea975579ec61d58fcfe2a5c38</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a38418dbddfb48cdb3e926b23aca69779</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a2f1d5cad0d752276d2820ef0cf31924f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a2af0c6e2e915de67c924b66db4366387</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a654c5e6d62e50ba7f5e765ec8084d5a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a548966d707f63f6953971e9b1b1701e3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a76ab91a7af43a1517ade1bed284983a8</anchor>
      <arglist>(const CartesianProductOperationVariantTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl &amp;</type>
      <name>operator*=</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a777c50e3a41a21523af22f1979cff2cb</anchor>
      <arglist>(const CartesianProductOperationVariantTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl &amp;</type>
      <name>operator*=</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a90b48e43fd825d5f7b4b28a543ba3fc7</anchor>
      <arglist>(const LieGroupGeneric &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl &amp;</type>
      <name>operator*=</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a7c5737c01e2eb9129618e9b9a4e6b28d</anchor>
      <arglist>(const LieGroupBase&lt; LieGroupDerived &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ad4c3791ca716cbbf10290af3973d4fcc</anchor>
      <arglist>(CartesianProductOperationVariantTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a8733454e207bffd9696723b12ce0fa04</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a66198e2b275165ea0df6fd84aef7eb39</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ac37b2f9655d782f1e2871290263bb1a2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>ae703003b3db22d98e53a3e582de34b86</anchor>
      <arglist>(LieGroupGeneric) liegroups</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Index &gt;</type>
      <name>lg_nqs</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a0d7c141f08d0b01da443b7fe902d21ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Index &gt;</type>
      <name>lg_nvs</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a2f6f223a47e08b535d10e236b42d4a4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a6f97d60c4ba2c4a1376af949c26b92db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConfigVector_t</type>
      <name>m_neutral</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>aabccbab8d344a964e8d8b250fdf9a38e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Index</type>
      <name>m_nq</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a3886a131c03d8efaf589645856c981e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Index</type>
      <name>m_nv</name>
      <anchorfile>structpinocchio_1_1CartesianProductOperationVariantTpl.html</anchorfile>
      <anchor>a2d5d741b4cec3345accae29f6f8be4b5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::CassieLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>af7a3c3bb9f7ce56655799547752c5fba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>a2f8dd7fb46bdb68edfdb5c7bf7aa7087</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>a5e603bafce006c5925bc857fa907392b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>sdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>a710a39b5c9611efc8660ff8197b91897</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>list</type>
      <name>sdf_parent_guidance</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>a9c59698d55e022ca9103881e45cc8d6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>sdf_root_link_name</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>a423b386dc2bd09f6c154198f2071289c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>sdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>a5303019cfbeb431e0958fe7665ad5a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1CassieLoader.html</anchorfile>
      <anchor>ab22895cd1069972d187730ce0870ceb5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; CppAD::AD&lt; Scalar &gt;, Options &gt;, NewScalar, CppAD::AD&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01CppAD_1_1AD_3_01Scal730c406630914410ee78a7fef62971c7.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01CppAD_1_1AD_3_01Scal730c406630914410ee78a7fef62971c7.html</anchorfile>
      <anchor>ae00103c2565763e4f7c7b12dc704750f</anchor>
      <arglist>(T &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, CppAD::AD&lt; NewScalar &gt;, Scalar &gt;</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_94c0c93923a560a3137d9983c1d6e8c1.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_94c0c93923a560a3137d9983c1d6e8c1.html</anchorfile>
      <anchor>a2410ed51fb1fec30073d36a21d3dbd0f</anchor>
      <arglist>(T &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, NewScalar, Scalar &gt;</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_2bb9c50dd9e3809662e298d0f2601b80.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_2bb9c50dd9e3809662e298d0f2601b80.html</anchorfile>
      <anchor>a4ec7fe75948d6623c0e181b116072ac0</anchor>
      <arglist>(T &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, Scalar, Scalar &gt;</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_d1b6514d11dac436da3cdfe34adef554.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_d1b6514d11dac436da3cdfe34adef554.html</anchorfile>
      <anchor>af418e1b8331588862bc76068cfea308e</anchor>
      <arglist>(T &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;,::casadi::Matrix&lt; NewScalar &gt;, Scalar &gt;</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_f6dcf0a9f1c4ce925ebca0b475000cbb.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_01Scalar_00_01Options_f6dcf0a9f1c4ce925ebca0b475000cbb.html</anchorfile>
      <anchor>a280102e8ed7e9c39a13409cc3f3a8450</anchor>
      <arglist>(T &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt;::casadi::Matrix&lt; Scalar &gt;, Options &gt;, NewScalar,::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_1_1casadi_1_1Matrix_3_2e49185c2b8f5bfd56411d32fa5e9dbf.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1cast__call__normalize__method_3_01SE3Tpl_3_1_1casadi_1_1Matrix_3_2e49185c2b8f5bfd56411d32fa5e9dbf.html</anchorfile>
      <anchor>a2b1cf02eeb75f4dfc1d9485a91780892</anchor>
      <arglist>(T &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::cast_impl&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;, Scalar &gt;</name>
    <filename>structEigen_1_1internal_1_1cast__impl_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01Exp1b6894e2d3a3785e840a95ce192d71b2.html</filename>
    <templarg></templarg>
    <templarg>ExpressionTemplates</templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>run</name>
      <anchorfile>structEigen_1_1internal_1_1cast__impl_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01Exp1b6894e2d3a3785e840a95ce192d71b2.html</anchorfile>
      <anchor>aac2fb61ceb7d9f5984ae3684fa50f3e0</anchor>
      <arglist>(const boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::cast_impl&lt; casadi::SX, Scalar &gt;</name>
    <filename>structEigen_1_1internal_1_1cast__impl_3_01casadi_1_1SX_00_01Scalar_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>run</name>
      <anchorfile>structEigen_1_1internal_1_1cast__impl_3_01casadi_1_1SX_00_01Scalar_01_4.html</anchorfile>
      <anchor>aa8a732c7b30fe76e9a187550c98287db</anchor>
      <arglist>(const casadi::SX &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::cast_impl&lt; CppAD::AD&lt; Scalar &gt;, Scalar &gt;</name>
    <filename>structEigen_1_1internal_1_1cast__impl_3_01CppAD_1_1AD_3_01Scalar_01_4_00_01Scalar_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>run</name>
      <anchorfile>structEigen_1_1internal_1_1cast__impl_3_01CppAD_1_1AD_3_01Scalar_01_4_00_01Scalar_01_4.html</anchorfile>
      <anchor>a8cfc398c29d5027b4eb7858052c121c8</anchor>
      <arglist>(const CppAD::AD&lt; Scalar &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::cast_impl&lt; CppAD::cg::CG&lt; Scalar &gt;, Scalar &gt;</name>
    <filename>structEigen_1_1internal_1_1cast__impl_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_00_01Scalar_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>run</name>
      <anchorfile>structEigen_1_1internal_1_1cast__impl_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_00_01Scalar_01_4.html</anchorfile>
      <anchor>a145f68a6cf83be3e905ce5a47686fefd</anchor>
      <arglist>(const CppAD::cg::CG&lt; Scalar &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType</name>
    <filename>structpinocchio_1_1CastType.html</filename>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType&lt; NewScalar, JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointModelCompositeTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ac2477ed9c16675207cccc7d30e3d0409</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType&lt; NewScalar, JointModelMimic&lt; JointModel &gt; &gt;</name>
    <filename>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelMimic_3_01JointModel_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>CastType&lt; NewScalar, JointModel &gt;::type</type>
      <name>JointModelNewType</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelMimic_3_01JointModel_01_4_01_4.html</anchorfile>
      <anchor>aa2e28c6a1ff56c9d4a11ad2edcbfcc6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelMimic&lt; JointModelNewType &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelMimic_3_01JointModel_01_4_01_4.html</anchorfile>
      <anchor>afbbf6c0c4df37ebc26b8c8862d7611b9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType&lt; NewScalar, JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; NewScalar, Options, axis &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a496eee2b907b7906d7b8e335e3585117</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType&lt; NewScalar, JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; NewScalar, Options, axis &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a3bb0202448432f5f867ed2eb5e08a446</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType&lt; NewScalar, JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; NewScalar, Options, axis &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aee9b788736bb6966eca840e1063df46b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CastType&lt; NewScalar, JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointModelTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1CastType_3_01NewScalar_00_01JointModelTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a768a71d9ebe046074489fdecc4bb3cda</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Check1</name>
    <filename>structCheck1.html</filename>
    <base>AlgorithmCheckerBase&lt; Check1 &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>checkModel_impl</name>
      <anchorfile>structCheck1.html</anchorfile>
      <anchor>aa371d7b80618b69ce0830d9d21a0c2c5</anchor>
      <arglist>(const Model &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenABA</name>
    <filename>structpinocchio_1_1CodeGenABA.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a5c7ee0c9f14b822d85880fd85661ae83</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a7e4058c4668fa27285d67f722fbe1606</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>afdd9bb2245a3f5fcafd3a5b6d387bbdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a18514e1f8fd67af75832ce7328080ca3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a8ba71e653289583412778473abf85c7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>abbf29e8ba16285fc273f0df8c1891270</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a0ad7c091dfd02e2f2294a42a638c9822</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a38661b1720ef50944f90ffbee1749372</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenABA</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>ad5d83048f30f7c383c88e44387fa9de7</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;aba&quot;, const std::string &amp;library_name=&quot;cg_aba_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>adf4a286fbb68118bce649bef8b34265e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVector2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalJacobian</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>aba807fbbe8447293a2ccfe58dfcfcdca</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVector2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>da_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>ab830d59f7e88ec9b2b78105df80196b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>da_dtau</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a2fe4d7e35afa7b1ebd44db12370c8c35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>da_dv</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a1c16f477b0c607b2d777bc6459f6301b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>a6eb04bbb349a0eff6f8dbe57323cc73e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>aad1c2e86dc3b533827a32fff0d7d857b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q_plus</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>ab714e4d1c62cdd8af973d21e4527e39c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_tau</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>abd873a6b3853e9efc8020ab84cde984c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_v</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>ab541e913e95620f17ea8f7a2355b0ce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>acaf5752128321de1d1e57c203e47f1e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenABA.html</anchorfile>
      <anchor>ae4b5505efbff72cb18215b5201b279d3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenABADerivatives</name>
    <filename>structpinocchio_1_1CodeGenABADerivatives.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a55f0487fc698dc24a0aff74447b9e37c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADData</type>
      <name>ADData</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a45d82576031162075a7d16a4875df989</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ADData::MatrixXs</type>
      <name>ADMatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a75cdc427b4b929715171cdd29d59a7db</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a5d2ad72ae614427e10abc6eb7ba78d0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a24c21d4d67adb940acdae6819e423883</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a537d7c34cab341909afce6d8069ad43c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a649792070cb7d4c6de88be77a3716bad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a9e7dfb9a82e25b9ec836644a6d9c9435</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a1a575102ee7d921f2990fcfb17315b19</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a8f7a07899f49a617e525db7eac34a5d1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenABADerivatives</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a4d87772f73c16ec7ab9fd52b92f20065</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;partial_aba&quot;, const std::string &amp;library_name=&quot;cg_partial_aba_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a68818958c8f7f9135ab0703c515993d6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVector2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a2cdfc03379c433aacb801dd16f456320</anchor>
      <arglist>(MatrixXs) RowMatrixXs</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a1d4e654f26644ca5d165caaaf0906414</anchor>
      <arglist>(ADMatrixXs) RowADMatrixXs</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_dddq_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a2d2addf398e733a7a260c10110db7fe9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_dddq_dtau</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a8f425ca1c0e38f45eda6cfc9d8682efa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_dddq_dv</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>afe1de90ba940cf4a5923df8ae01b449d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a87b9bc5acb93fb22ad7f17d84fa52c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_tau</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a9a9caf5875f6468ee9c9a337ef41e62e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_v</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a0d37c1ea43132b5af26a38807093a5f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MatrixXs</type>
      <name>dddq_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a14691b7cda736ca773e06289be7dcbf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MatrixXs</type>
      <name>dddq_dtau</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a89ef507f6aa0a4ead133da668cd8281a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MatrixXs</type>
      <name>dddq_dv</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a45c069f86579e9db69f898531158ed93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>partial_derivatives</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a8dac3ed7b9193516bc1d0efb539b9aeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenABADerivatives.html</anchorfile>
      <anchor>a29549aaa2d50c269b976b8310f496393</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenBase</name>
    <filename>structpinocchio_1_1CodeGenBase.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ae02e225392ae86641259fc1b10aa2e2baee49090d7e304434763377ce46b7433c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ADModel::ConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a47a7c9c987b7dd2dfefe10ccd72cd667</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::DataTpl&lt; ADScalar, Options &gt;</type>
      <name>ADData</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>afa38d782bbfae72ef869cf00c26458f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::ADFun&lt; CGScalar &gt;</type>
      <name>ADFun</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a3421f7a16b862d64a479575567991cd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>ADMatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a498604337469b24829422497f090d8c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::ModelTpl&lt; ADScalar, Options &gt;</type>
      <name>ADModel</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a2f894d8cbe582f4a7f2bafa48307eeaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::AD&lt; CGScalar &gt;</type>
      <name>ADScalar</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ae0a5a00886a69995d1070613a245d236</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ADModel::TangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>af12ffa287498b23147c035d4ec9306b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; ADScalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>ADVectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>acb9bdc4cba491e78ce3f5be002248ba6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::DataTpl&lt; CGScalar, Options &gt;</type>
      <name>CGData</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>aa1f938cfb7115e21ce0762400406dffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::ModelTpl&lt; CGScalar, Options &gt;</type>
      <name>CGModel</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a54f82fdf9f3e4dfea04e2a7926d4901e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::cg::CG&lt; Scalar &gt;</type>
      <name>CGScalar</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a4d0f149d541a001c0a9df5e34e5614fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::ConfigVectorType</type>
      <name>ConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ac17427bbe0cb34d7de0dd477ea0d1dad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::DataTpl&lt; Scalar, Options &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a90902b9e52825b453b9cd848472e25ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ac93fb146db62ef652b322dc8a0778bcd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::ModelTpl&lt; Scalar, Options &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a8b36454f1ed9d92ed3c501df6d136fd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ae02e225392ae86641259fc1b10aa2e2baee49090d7e304434763377ce46b7433c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options|Eigen::RowMajor &gt;</type>
      <name>RowMatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>acb234e07fcb05db41f5f9a19ec9dcbad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a2969741df94bf5297251b885893b91f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::TangentVectorType</type>
      <name>TangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ac4a7a43402323ba582a1a7fd9856739a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a42bf591d7b4510932f1d731cf5b2b91d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a8dcb929c7a883b796dbdabd210b0f7bb</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenBase</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ae7fb0b1ee16663dd0ba588d13222c969</anchor>
      <arglist>(const Model &amp;model, const Eigen::DenseIndex dim_input, const Eigen::DenseIndex dim_output, const std::string &amp;function_name, const std::string &amp;library_name)</arglist>
    </member>
    <member kind="function">
      <type>CppAD::cg::ModelCSourceGen&lt; Scalar &gt; &amp;</type>
      <name>codeGenerator</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>aad1ac9bafea0d533ba18ca38f6c98842</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>compileLib</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ac37358139140478ef1331035614d3a2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ab9129a4c45d1d54bf9d2304e1f04fc31</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalJacobian</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a06ab1c44f66ff15302fb5514897bb767</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existLib</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>abb44e96339eeff5c087a17e7fe39d2d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::DenseIndex</type>
      <name>getInputDimension</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a75cfef13029b45c3729904e25ac48c2b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::DenseIndex</type>
      <name>getOutputDimension</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a64ef524274a6ce7b7ef49563ebc6f85f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initLib</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>add0dbad700705d1d0af21db1e918d8a1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadLib</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a4251c292b3009a63c4eb53a845786602</anchor>
      <arglist>(const bool generate_if_not_exist=true)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_a</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a9587e4cad846556aded91e5bd82b26a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADData</type>
      <name>ad_data</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a37de73c6a082de3456ce9a8aa5304f4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a72c5fdf04d951f5e54c2812928e723a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADFun</type>
      <name>ad_fun</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a9073ec6c6225c169382ad47f4c9b1955</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADModel</type>
      <name>ad_model</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a0cad0745f4f1f1728488fb7b702f5d20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a95cb2078bcf49e8ca2e2d853b633b5fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q_plus</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ab034ec220b93ec01852be3e6b0078ffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_v</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a801fe026875809f5322a0381c6980d5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADVectorXs</type>
      <name>ad_X</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a52b0938814a4f2d36e043e64acc8ccb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADVectorXs</type>
      <name>ad_Y</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a431bf14af69f0303547aef48e8cab832</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>build_forward</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a7c354400db9fe313d0e5274227e6aa99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>build_jacobian</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a5d22bd473d33edee17475171b41f8573</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unique_ptr&lt; CppAD::cg::ModelCSourceGen&lt; Scalar &gt; &gt;</type>
      <name>cgen_ptr</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a1405c1994471354a589497aecdddbee7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unique_ptr&lt; CppAD::cg::DynamicLib&lt; Scalar &gt; &gt;</type>
      <name>dynamicLib_ptr</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a212d59d4b0653c8ac7176588cd1ee97f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unique_ptr&lt; CppAD::cg::DynamicModelLibraryProcessor&lt; Scalar &gt; &gt;</type>
      <name>dynamicLibManager_ptr</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a0d27fe6c80177e795b21b65702829a94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const std::string</type>
      <name>function_name</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a516c72ba7f3d0dd7f0f0ab2b6c8f62d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unique_ptr&lt; CppAD::cg::GenericModel&lt; Scalar &gt; &gt;</type>
      <name>generatedFun_ptr</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>adabb1009b35176c64f61760bca1c0ee3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RowMatrixXs</type>
      <name>jac</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a57e4ee8b2bddd434aa49c4bbb9fff6d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unique_ptr&lt; CppAD::cg::ModelLibraryCSourceGen&lt; Scalar &gt; &gt;</type>
      <name>libcgen_ptr</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>abbdce3d2a3c9565ba64119820c3b0ec1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const std::string</type>
      <name>library_name</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>ab07512b0a46b5a6b017ad7e690408f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>y</name>
      <anchorfile>structpinocchio_1_1CodeGenBase.html</anchorfile>
      <anchor>a5c0035b07a6e24a3ccdb5ffe281ed206</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenCRBA</name>
    <filename>structpinocchio_1_1CodeGenCRBA.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>aee5ebc0c51926f9851327a7e30bf92e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a15492a2088b47f529dffd42793dfcc1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>adbb59c35cd16eb4d2835fadcb876b9fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a588901b9c95d5382889599a3a722bf6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a5316c1aa99a994194cf91793481c3018</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>aded0aa7abeffefb1e557a3d6420a9b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a4cefa79405f6c1374c59930ec29cb4bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>ae45dee804694e459278de715f3220ba0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenCRBA</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a4211a9775dd2cd86f36860bcdd0abf3d</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;crba&quot;, const std::string &amp;library_name=&quot;cg_crba_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a3bf9499e38e0d7ae53b4005ad3b7d65f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>ac819a725239fb428d2187942ca64c245</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a1ad75cd6cdfa579e341f8cd917652378</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a1c5a572732bc9dd00a582231b3d0d672</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenCRBA.html</anchorfile>
      <anchor>a08c12d4e241b50cb0e216da17ebd5725</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenDDifference</name>
    <filename>structpinocchio_1_1CodeGenDDifference.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>ac2a3954b2d66b7bf6a2e73ce5a023688</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADMatrixXs</type>
      <name>ADMatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>afc6d330152a1bc73022d64dfbfc1399f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a497d74c128c9dd34acc837d6798b9498</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADVectorXs</type>
      <name>ADVectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a9be3ea44c67780786d3959692831afd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>afab8ae38af612cce34ce7b9187fe6fda</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>aaf67d832f431002495568ea9000a1a87</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a3dda57fdf64bafd41d19a02acd0130b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a8fac646ca0a04e5ecf4d8e52a19ddc92</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>afdae70bb1ae2cdcc18289b2400f3424b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>ab18ca0d7a7672a256dc7f6846f387d6a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenDDifference</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>ae841e711bfe64c979d44e7dc56a8c425</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;dDifference&quot;, const std::string &amp;library_name=&quot;cg_dDifference_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a9a4589fc35042b0aecbd2589db105bef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorType2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_J0</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a2869ab7eb5925243c1bc191cd5e71a7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_J1</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a8a85e753fc1808644b6b18cb293f3d98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q0</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a1179bae640a6d3eba4a8b57ca991d2c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q1</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>af46f9114d2b46f071ad4611d5a9403bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenDDifference.html</anchorfile>
      <anchor>a34ab5ecaa97f3973545de1e8d3185fc1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenDifference</name>
    <filename>structpinocchio_1_1CodeGenDifference.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a17d189123a03ea9dd1fccc0a8a70da1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a2878c0bc2b117ee627ff82e19853f76d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a2f195efdd74bdfdd75171f1094855610</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>af0f10033296010b492f82830e3daab64</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a4019d45a0cf8fd20e2636ed08a003623</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a04b963b8861095df384db18e950fa1fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>afe1fa45d375bf0a18baa9d5fbeee3a92</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>afcd1045de7b3e7286ef8bb935516de96</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenDifference</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>aef465cf77a2853693bd8aa576907cd85</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;difference&quot;, const std::string &amp;library_name=&quot;cg_difference_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>afdcce6f5ad09ef687efc39935cc59068</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorType2 &gt; &amp;q1, const Eigen::MatrixBase&lt; TangentVector &gt; &amp;v)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q0</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>ac25a2995edae8dc19c0dcf600ec8aa10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q1</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a877c1e5fc8d6b9922e9b5d999b1a22ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>ac9fa97e300a31f62d96134642e645bd5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenDifference.html</anchorfile>
      <anchor>a2c0aa483f5b24a75e6255fd5ad818709</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenIntegrate</name>
    <filename>structpinocchio_1_1CodeGenIntegrate.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>af9940a33a2d16326f9c0ef176a07c894</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a299341bf905eeac6fdb63593efba3f27</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>aa98e7b752a59f7ad9bf515b16fac1936</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a5acb0e099beb85d249748887c68066d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>ad340adef37eac65ab8f75c4f7acd2db1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a9d0fc1b915823fc94c626d2e26f8382c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a7f65f0346a15761d62b184ee1d8acaa2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a92d40d15c6146a40ef3802a7d30608ef</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenIntegrate</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a521e65e7df84c688dd12d61133aec59e</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;integrate&quot;, const std::string &amp;library_name=&quot;cg_integrate_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a662d48936c377377f31a9f195457a0f7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType1 &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigVectorType2 &gt; &amp;qout)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a3943ed46f45a20826a91dd8bf6909bf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_v</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>a86f446eee57cd2a9e9d469ffff08067d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>acd987ee7c88d611ccf10d8337780b85b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenIntegrate.html</anchorfile>
      <anchor>abb99d0ba795c6dca7eae3cf42657a6ec</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenMinv</name>
    <filename>structpinocchio_1_1CodeGenMinv.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a0b78f60de4a50f8bc20bd443a4946ed9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a15bf7873147d532f4e47277f21a61cc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a4d1db9e9fd4a3ce74db90ac931e294e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>ab3171574987866c98ec7c95407b1b6e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a5d02069e0e9ebe65e3481f5abcd5e0d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>ac04d3635a7a2bcef158c9421d6a925bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>af831602e1c915ea449cd19eeccdc6901</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a7dd6d00396300b7c1661a5e7ba7bbef8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenMinv</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a6c25f50f7b45cea6385e021568321b24</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;minv&quot;, const std::string &amp;library_name=&quot;cg_minv_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a826627fca59c4f4e8c2f25ac1033b129</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>Minv</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a5bce06b8bc6eaa2e695127a2cec79768</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a629f66df363c1fad6e82560f1f6cd660</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>ac800d53032a7751aa361561acdf9ce98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenMinv.html</anchorfile>
      <anchor>a4767506251abd5f90f865c69227e2563</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenRNEA</name>
    <filename>structpinocchio_1_1CodeGenRNEA.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ad184848c71ca5a858d67cb0f228d7c34</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ac7b3c43c922b7897c609963a80d3f664</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a4835269c355b53cd9be2eabbda632848</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a450976f3fc15be3bacc1b457cf66853f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>aec6d4028c7e78cacb5b22ed1bc0db6f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a1fc0c154a13f88530d6ca3389fd99f28</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ab31e97805d7d9f07f8077b66f64988b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ae2f5fa5ef48c2e35572b4a93ca1b2d1c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenRNEA</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a54bea4a8e96c15ffbae5088bf847b09d</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;rnea&quot;, const std::string &amp;library_name=&quot;cg_rnea_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a4221d6ef08096be61b7ee246b65b1360</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVector2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalJacobian</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>afe8209030128538cf498b00c63224626</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVector2 &gt; &amp;a)</arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_da</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a5e070f02f79489054aaf50e2e415c926</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a95c3f75846b49340c3365da4c4f5ea1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_dv</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a680548daab4b45986d8f84d390898d6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_a</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a36c46f4593aace2447ab7d7ddd301301</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ae3b58071e9157b8661881cdf3a437d74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ac6267653883a97d7d45caf016e6e26ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q_plus</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>ad2279a16cc24df02c7fd67b9d5004f51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_v</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>aa817d7fd160cb54567b1151084e780cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a6530505536d3b2c49f30baa5db8670bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEA.html</anchorfile>
      <anchor>a0f26f9cc2e486859800a3e85acbecd5f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CodeGenRNEADerivatives</name>
    <filename>structpinocchio_1_1CodeGenRNEADerivatives.html</filename>
    <templarg>_Scalar</templarg>
    <base>pinocchio::CodeGenBase</base>
    <member kind="typedef">
      <type>Base::ADConfigVectorType</type>
      <name>ADConfigVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>aa3a6b2ad1a085d5ca403b960be4541f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADData</type>
      <name>ADData</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ab6c082c32d7ec8d53ba1249e03717cda</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ADData::MatrixXs</type>
      <name>ADMatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a0b50748f74a8ff4244ff758a6105f532</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::ADTangentVectorType</type>
      <name>ADTangentVectorType</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a4f51478c6c5743b4e5fb986fac9f2aff</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CodeGenBase&lt; _Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a1f03251a29850aad5b60c90abd7423bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::MatrixXs</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a965af196845d3ab08990fedde7e51a67</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a34f0786f6ed2d11a9d79a3e9bbfd45d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a7371d009e55c662a50d3dd5f3e135152</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a2da31d66f58fe4e9cfc0f14f12683f20</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildMap</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a6e41f9ff7803191f0eedc5e6e384b93f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CodeGenRNEADerivatives</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ae6c0bf2ddb3a830d2d63eceba60e754a</anchor>
      <arglist>(const Model &amp;model, const std::string &amp;function_name=&quot;partial_rnea&quot;, const std::string &amp;library_name=&quot;cg_partial_rnea_eval&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>evalFunction</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a1e0cb1db94d6e44b8286630ec6b00988</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVector2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ac196a53472c38067815acda11b569c98</anchor>
      <arglist>(MatrixXs) RowMatrixXs</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a1f57386d2c1b2efbb4642ae1c339286e</anchor>
      <arglist>(ADMatrixXs) RowADMatrixXs</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_a</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ac6f1ab5c7f71ba31b92f96dd90fa21bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_dtau_da</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a9312164e047c0499d33280852baca4f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_dtau_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a67ec5c7d9e294db676d75b9a75adfc0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADMatrixXs</type>
      <name>ad_dtau_dv</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>af1753a6902baedcb3ca6b02933193afc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADConfigVectorType</type>
      <name>ad_q</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a0bf893965b416b300f497c28e757d288</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ADTangentVectorType</type>
      <name>ad_v</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ae3941dbbdeb9d51532a40a860d5b9407</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MatrixXs</type>
      <name>dtau_da</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>abeb07a506d22cebea653b37e75065f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MatrixXs</type>
      <name>dtau_dq</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ab1dce31128a7d5ca7aa69b5a122a35cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MatrixXs</type>
      <name>dtau_dv</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>ae54b9b3262463aa528d0bc0c03d19674</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>partial_derivatives</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a44b3827e1a1182a4e31119c6ba5d8d64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXs</type>
      <name>x</name>
      <anchorfile>structpinocchio_1_1CodeGenRNEADerivatives.html</anchorfile>
      <anchor>a1d20f8f76d372f41f3d8761b5c6e0f75</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::CollisionPair</name>
    <filename>structpinocchio_1_1CollisionPair.html</filename>
    <member kind="typedef">
      <type>std::pair&lt; GeomIndex, GeomIndex &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>aaee26709dfe3f818c1b14f67f287d958</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CollisionPair</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>a9e96819ee630ddbf24baa605021d01ca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CollisionPair</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>a69a2330c8226aa4ba18b8acf4ef418c0</anchor>
      <arglist>(const GeomIndex co1, const GeomIndex co2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>a162d4585e3d4c9a6fd9f656f165e69e6</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>a15c6cea242cf848df2ef3d7b2478ddee</anchor>
      <arglist>(const CollisionPair &amp;rhs) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>a4f61711e03fab91d545a147168db6b0d</anchor>
      <arglist>(const CollisionPair &amp;rhs) const</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1CollisionPair.html</anchorfile>
      <anchor>ab9600f5fe04f874e9c261763842d4ff1</anchor>
      <arglist>(std::ostream &amp;os, const CollisionPair &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::CollisionPairPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1CollisionPairPythonVisitor.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1CollisionPairPythonVisitor.html</anchorfile>
      <anchor>a800073c7941ae37e96f47fc3b32c7a3c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType::ColsReturn</name>
    <filename>structpinocchio_1_1SizeDepType_1_1ColsReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>Mat::template ConstNColsBlockXpr&lt; NV &gt;::Type</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1ColsReturn.html</anchorfile>
      <anchor>aef054229cf8a724a9303924e01916c3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Mat::template NColsBlockXpr&lt; NV &gt;::Type</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1ColsReturn.html</anchorfile>
      <anchor>abf3a07bf490b50f61b7a69e48644bb03</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::ColsReturn</name>
    <filename>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1ColsReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>Mat::ConstColsBlockXpr</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1ColsReturn.html</anchorfile>
      <anchor>a0e39ab902b66c6030e2e1061da96c0c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Mat::ColsBlockXpr</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1ColsReturn.html</anchorfile>
      <anchor>ac4f440356599da40e772ea8655102e61</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConfigVectorAffineTransform</name>
    <filename>structpinocchio_1_1ConfigVectorAffineTransform.html</filename>
    <templarg>Joint</templarg>
    <member kind="typedef">
      <type>LinearAffineTransform</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1ConfigVectorAffineTransform.html</anchorfile>
      <anchor>a5da2467b3cbfd4ae70556938565c12bf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConfigVectorAffineTransform&lt; JointRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1ConfigVectorAffineTransform_3_01JointRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>UnboundedRevoluteAffineTransform</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1ConfigVectorAffineTransform_3_01JointRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ad83621f9c5997c0c4d1885d97df1ea77</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::conj_impl</name>
    <filename>structEigen_1_1internal_1_1conj__impl.html</filename>
    <templarg></templarg>
    <templarg>IsComplex</templarg>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::conj_impl&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;, true &gt;</name>
    <filename>structEigen_1_1internal_1_1conj__impl_3_01boost_1_1multiprecision_1_1detail_1_1expression_3_01taac8b10ae2fbc92d63f06d393710d72bb.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;::result_type</type>
      <name>run</name>
      <anchorfile>structEigen_1_1internal_1_1conj__impl_3_01boost_1_1multiprecision_1_1detail_1_1expression_3_01taac8b10ae2fbc92d63f06d393710d72bb.html</anchorfile>
      <anchor>a1613ea332d74d4f51f2d4e59822c8040</anchor>
      <arglist>(const typename boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::conj_retval</name>
    <filename>structEigen_1_1internal_1_1conj__retval.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::conj_retval&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</name>
    <filename>structEigen_1_1internal_1_1conj__retval_3_01boost_1_1multiprecision_1_1detail_1_1expression_3_01778b66d53fb5707c938372306b348f3e.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;::result_type</type>
      <name>type</name>
      <anchorfile>structEigen_1_1internal_1_1conj__retval_3_01boost_1_1multiprecision_1_1detail_1_1expression_3_01778b66d53fb5707c938372306b348f3e.html</anchorfile>
      <anchor>a0823d83994e2678daa01024b981f1241</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::math::constants::detail::constant_pi&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>boost::math::constants::detail::constant_pi&lt; CppAD::AD&lt; Scalar &gt; &gt;</name>
    <filename>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>CppAD::AD&lt; Scalar &gt;</type>
      <name>ADScalar</name>
      <anchorfile>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a480051bb464027ac0dbd1932c4fd379c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ADScalar</type>
      <name>get</name>
      <anchorfile>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a6cb9e44fe9b2735d29bf0b62780189a9</anchor>
      <arglist>(const mpl::int_&lt; N &gt; &amp;n)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ADScalar</type>
      <name>get</name>
      <anchorfile>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a965c622f3fcd720024f6e2f317ec96d4</anchor>
      <arglist>(const std::integral_constant&lt; T, value &gt; &amp;n)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::math::constants::detail::constant_pi&lt; CppAD::cg::CG&lt; Scalar &gt; &gt;</name>
    <filename>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>CppAD::cg::CG&lt; Scalar &gt;</type>
      <name>CGScalar</name>
      <anchorfile>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a870b59b4c5c639798a99a9ba5e44b7d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CGScalar</type>
      <name>get</name>
      <anchorfile>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a58b25415551e91d83d434d680bde7a02</anchor>
      <arglist>(const mpl::int_&lt; N &gt; &amp;n)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CGScalar</type>
      <name>get</name>
      <anchorfile>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a3297337a83a02c24b7818258613088d9</anchor>
      <arglist>(const std::integral_constant&lt; T, value &gt; &amp;n)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::math::constants::detail::constant_pi&lt;::casadi::SX &gt;</name>
    <filename>structboost_1_1math_1_1constants_1_1detail_1_1constant__pi_3_1_1casadi_1_1SX_01_4.html</filename>
  </compound>
  <compound kind="class">
    <name>pinocchio::ConstraintBase</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW Derived &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; Derived, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; Derived &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; pinocchio::ConstraintTpl &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW pinocchio::ConstraintTpl &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const pinocchio::ConstraintTpl &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; pinocchio::ConstraintTpl, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; pinocchio::ConstraintTpl &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::ConstraintTpl &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::ConstraintTpl &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; pinocchio::ConstraintTpl &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ConstraintBase&lt; ScaledConstraint&lt; Constraint &gt; &gt;</name>
    <filename>classpinocchio_1_1ConstraintBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>cols</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a57904eada02f99cfa2d290d82dde6365</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW ScaledConstraint&lt; Constraint &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a18ba2c22e1aa8e5d79a9bab21497ef5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ScaledConstraint&lt; Constraint &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a61585c2b86e9931d0aaaeeca0d7b62b7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa0f8f0e1fe4c27fab7fd7f94f8990620</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a046c53e911b01c96f6823adebb36b0d7</anchor>
      <arglist>(const ConstraintBase&lt; OtherDerived &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a39a5ac4263630ddd59fd6fcd74189ebb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa69c40e6b8085316263cd0d2a034983d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ScaledConstraint&lt; Constraint &gt;, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>afc353e491c2fffc6796a56c1986d02ee</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>ae2c1bf1421f3b810b7028da9d8d2700d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c0fba12e5ffe332ebda356b1a081365</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>aa643ed7be2e58361f8f135d8a3eb2332</anchor>
      <arglist>(const ConstraintBase&lt; ScaledConstraint&lt; Constraint &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ScaledConstraint&lt; Constraint &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a2ad3efbdf4961dff33364e3f5cfc3d6b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ScaledConstraint&lt; Constraint &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a5a1e70569cdaadb1e515dafc76f3a4dc</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>rows</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a94bcb651d9476d4e320870044fe911e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ConstraintBase.html</anchorfile>
      <anchor>a8545aaaee40a524b368c96f8fdfb1d0a</anchor>
      <arglist>(std::ostream &amp;os, const ConstraintBase&lt; ScaledConstraint&lt; Constraint &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceOp</name>
    <filename>structpinocchio_1_1ConstraintForceOp.html</filename>
    <templarg>ConstraintDerived</templarg>
    <templarg>Force</templarg>
    <member kind="typedef">
      <type>ReturnTypeNotDefined</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp.html</anchorfile>
      <anchor>a4e4ab8ace1869fc76d7aedc0ca04351a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceOp&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, ForceDerived &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceOp_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ForceDense&lt; ForceDerived &gt;::ConstLinearType::template ConstFixedSegmentReturnType&lt; 1 &gt;::Type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>aa83c0587c8e0fa80bb5c0a1e381c230f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceOp&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, ForceDerived &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceOp_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; typename PINOCCHIO_EIGEN_DOT_PRODUCT_RETURN_TYPE(Vector3, typename ForceDense&lt; ForceDerived &gt;::ConstAngularType), 1, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a74f173dfd85dd5ea66a9a1918ccb76a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a8f35a00d37ec0f1e8d9a2bfec2b1f2d3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceOp&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, ForceDerived &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceOp_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ForceDense&lt; ForceDerived &gt;::ConstAngularType::template ConstFixedSegmentReturnType&lt; 1 &gt;::Type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a0488c4c7c0e3aa7ca465050956ebfc27</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceOp&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, ForceDerived &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceOp_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; typename PINOCCHIO_EIGEN_DOT_PRODUCT_RETURN_TYPE(Vector3, typename ForceDense&lt; ForceDerived &gt;::ConstAngularType), 1, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a9d9109f47fa339dd728058c76bb60d90</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>ad785f88435408f578aa8c99917f4dfed</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceOp&lt; ScaledConstraint&lt; Constraint &gt;, ForceDerived &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ScalarMatrixProduct&lt; Scalar, OriginalReturnType &gt;::type</type>
      <name>IdealReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a4b27b9fab94310d15bb2c2a2619b5337</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintForceOp&lt; Constraint, ForceDerived &gt;::ReturnType</type>
      <name>OriginalReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a90319aea9a81b0459362bc9d4ac4f80f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, IdealReturnType::RowsAtCompileTime, IdealReturnType::ColsAtCompileTime, Constraint::Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a6df7919e400599be926b8079b4c3cb86</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1ConstraintForceOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceDerived_01_4.html</anchorfile>
      <anchor>a98a48ea360fe4ce4332e62ff3c60e909</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceSetOp</name>
    <filename>structpinocchio_1_1ConstraintForceSetOp.html</filename>
    <templarg>ConstraintDerived</templarg>
    <templarg>ForceSet</templarg>
    <member kind="typedef">
      <type>ReturnTypeNotDefined</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp.html</anchorfile>
      <anchor>ae40e0b67882b2a9950b850cd39e26f04</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceSetOp&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, ForceSet &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceSet_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::MatrixBase&lt; ForceSet &gt;::ConstRowXpr</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>aac8a9451bf05ba5757818d309a0e2133</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceSetOp&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, ForceSet &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceSet_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MatrixMatrixProduct&lt; Eigen::Transpose&lt; const Vector3 &gt;, typename Eigen::MatrixBase&lt; const ForceSet &gt;::template NRowsBlockXpr&lt; 3 &gt;::Type &gt;::type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>a3f2fc388e62d8a9e335b97cc3cc20219</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>a486b88c05a35d331ca4a78eee34932bb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceSetOp&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, ForceSet &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceSet_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::MatrixBase&lt; ForceSet &gt;::ConstRowXpr</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>acd134ee92e38057165a3dc532d52b8a6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceSetOp&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, ForceSet &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceSet_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MatrixMatrixProduct&lt; Eigen::Transpose&lt; const Vector3 &gt;, typename Eigen::MatrixBase&lt; const ForceSet &gt;::template NRowsBlockXpr&lt; 3 &gt;::Type &gt;::type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>a7654c934da7462846439bf3c3f508b46</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>a774b2c74761d1b0b7a7405d6d552ff09</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintForceSetOp&lt; ScaledConstraint&lt; Constraint &gt;, ForceSet &gt;</name>
    <filename>structpinocchio_1_1ConstraintForceSetOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceSet_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ScalarMatrixProduct&lt; Scalar, OriginalReturnType &gt;::type</type>
      <name>IdealReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>a05a7ecf929593c7f2986bc7483d9b57d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintForceSetOp&lt; Constraint, ForceSet &gt;::ReturnType</type>
      <name>OriginalReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>ab82c686325ae381acf645c30409340e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Constraint::NV, ForceSet::ColsAtCompileTime, Constraint::Options|Eigen::RowMajor &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>ae230f2dfa162758abd4383ee0c3793ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1ConstraintForceSetOp_3_01ScaledConstraint_3_01Constraint_01_4_00_01ForceSet_01_4.html</anchorfile>
      <anchor>aae9dce0febf1b405afd1fce9a2420e39</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintIdentityTpl</name>
    <filename>structpinocchio_1_1ConstraintIdentityTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintIdentityTpl::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a5ba3c86d46a62c54bbc05e59f7cbcba7a88bbca4e60d9fc6bc1fe008922c2a2a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a5ba3c86d46a62c54bbc05e59f7cbcba7a88bbca4e60d9fc6bc1fe008922c2a2a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a0b56cbfc64c81aa011799a5409758bcf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector6Like &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>aa4e256b064794162f00eb97251eed705</anchor>
      <arglist>(const ConstraintIdentityTpl &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a65c4431e8fdbdc8a7d400afca231fb94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::ActionMatrixType</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a19b3613f866d8b481b6a59a7367ede08</anchor>
      <arglist>(const MotionBase&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a7c9c5abb1634d91288382c408c2e1085</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; S1, O1 &gt;::ActionMatrixType</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>aa42b2bfbffcd741ae272c345e4ccdaf4</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; S1, O1 &gt;::ActionMatrixType</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>a18532139fccf6e13c5e2df5496f93908</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl.html</anchorfile>
      <anchor>ad5b07334b8250e694fce1af8992e591c</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintPlanarTpl</name>
    <filename>structpinocchio_1_1ConstraintPlanarTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintPlanarTpl::ConstraintTranspose</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a54f48e8b1623328eda22ea632c8af498abcd302d3eecd9319b9219a7d7b870457</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a54f48e8b1623328eda22ea632c8af498abcd302d3eecd9319b9219a7d7b870457</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a87970e553a8f1d7e6279666750847bd7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintPlanarTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a2418c7c5be239c9609c8f75280164742</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>ad7a815e4a84dd992686747b42629698f</anchor>
      <arglist>(const ConstraintPlanarTpl &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>ae21e0be0be7443a14ee021e469be7718</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>aee3d3cfe132eb20b18e676666ec9a75f</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a40fee9c38da1fcfde1318a546796693b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a3208d9f544e425f153d66f17bc641f86</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a8c6b5e73eb33156dc1e6556d34c951bd</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTranspose</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl.html</anchorfile>
      <anchor>a45c68e3b67355000ed62e9ab4e66cfd2</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintPrismaticTpl</name>
    <filename>structpinocchio_1_1ConstraintPrismaticTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>ConstraintBase&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintPrismaticTpl::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>aa46acc22187462ab05f7817bddb5f9fea25521ecb020d7f76f29fb4ce63e924bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; LINEAR+axis &gt;</type>
      <name>Axis</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>aeb8070cccbda9dcc6e8662eb2290d616</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>aa46acc22187462ab05f7817bddb5f9fea25521ecb020d7f76f29fb4ce63e924bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a1576801dfc45fd7c79c85068ff704d9c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector1Like &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintPrismaticTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a2e8471b75298b35d1ab6a39f525755a6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a74f0c0f7de98f3c6f081136d12d009bd</anchor>
      <arglist>(const ConstraintPrismaticTpl &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a898f176b25f539d2da3ea5adb57db3e3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintPrismaticTpl, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a522c46751e2d76c084b93285e9959e9f</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>ab1de5605ce81984dc1689194fa44f143</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticTpl &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a282d6d737d79790fd2094032a548e37c</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticTpl &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a4574d9b8580ceeae9362d7ae3ff67481</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl.html</anchorfile>
      <anchor>a1a05d6edb29b6131fabc9a3eacd96312</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintPrismaticUnalignedTpl</name>
    <filename>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintPrismaticUnalignedTpl::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>afb8fcc09401b6e21121ee7253597e9f0ab53d7a879e4b77a157538bdc65643811</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>afb8fcc09401b6e21121ee7253597e9f0ab53d7a879e4b77a157538bdc65643811</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ConstraintPrismaticUnalignedTpl &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a61a0370904b197a9662fe2e1ca435eb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a0a461968a88316aba2c05fdfc25013fa</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector1Like &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a01878b1be10da38a05490c5d67533db2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a5ba605a0d8484172f79cb5f8568cbe34</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a6203903f9cb3626af77e945ccd5ef385</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a418aac8319ca86b75a2d2edbc27e77a6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a3c682333f6a7e69e31d57db07ef3fd5d</anchor>
      <arglist>(const ConstraintPrismaticUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a680c543b1527ea0c4a8f058c39c3e46d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a21db544d37486f0e31a61e404ffcf1f2</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a1ca02b24e00477a13c3fbafceef7ecc5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a298c0590ce452fce51210009522c9b3a</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>aa38f9eac68d97cde82c0176ee55c2a69</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a982d6a19e7dd5006df908b2d940fb95b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_axis</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a762a0236c50238e848293deef66379a3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintRevoluteTpl</name>
    <filename>structpinocchio_1_1ConstraintRevoluteTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>ConstraintBase&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintRevoluteTpl::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a71a74e1e5e770040f9d0f2317f7b669ea369891090f18c6f662d74efaea3e57f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; ANGULAR+axis &gt;</type>
      <name>Axis</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a3a4d1892a8fd397d4fba92a2e4931e87</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a71a74e1e5e770040f9d0f2317f7b669ea369891090f18c6f662d74efaea3e57f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a463aaa3afaf1221a5763de9635cc5e39</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector1Like &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a0d8dd227e8972e50d9ad3c1be88271c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a42ef8b853bcff7816488a7cffc1db466</anchor>
      <arglist>(const ConstraintRevoluteTpl &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a5dd57e90ca4da5b233dec1566b0ade59</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintRevoluteTpl, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>adb15006a5e09471a5664995a1f585cbe</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>aec0701ae16066cdfc9ace4a39436ba69</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteTpl &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>abe3574316bb13cb340a49a0cb87dcfe8</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteTpl &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>ac788333e509a76a2b49de3940fa28067</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl.html</anchorfile>
      <anchor>a37b1b1f9a0f4f5de9fc7833d34a4266e</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintRevoluteUnalignedTpl</name>
    <filename>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintRevoluteUnalignedTpl::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a2faeffbef305b8c14d97dda87f6cb985aeb8a8506b8cf19bcd46f54b810b26297</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a2faeffbef305b8c14d97dda87f6cb985aeb8a8506b8cf19bcd46f54b810b26297</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ConstraintRevoluteUnalignedTpl &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aaaff9268b4095b49345ee3905e20a308</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>abada7292fa047c9e67a96ed9a81fdefb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector1Like &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a4193aec4cd6f57d2c111251823803008</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a8f4a45fc677a377ead3d337fae52a5a4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aae39a34b512dc5b3d910da000362a0d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a4f3639da51220bea60e2220cf098afbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a20187ef0baf5f51bd0ff2396851048d7</anchor>
      <arglist>(const ConstraintRevoluteUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aeeb106b7882517c832ee5e09a1d89f22</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ConstraintRevoluteUnalignedTpl, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a371b92e337163fe5fe608d5a178ff4e6</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ab6bdf61aa8fa4f5b0e22fc24585f84ef</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a0264acfc0ade890a0779133f5cf7552d</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a4de8fd3f63d3e377e7bf2b895a690770</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a445d1eec9b890f33106ca17926407619</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_axis</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ab72f5b5ba516a38323f1eadda4664d7c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintSphericalTpl</name>
    <filename>structpinocchio_1_1ConstraintSphericalTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintSphericalTpl::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>ab8c0e33db8e469ba6b223898cadae638a5f74d81b1f6a9de0ba3cad8af1198ea3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>ab8c0e33db8e469ba6b223898cadae638a5f74d81b1f6a9de0ba3cad8af1198ea3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>a69bcbc4a72a18718bd12a96faceca4a7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;w) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>ConstraintSphericalTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>a3d49103289bb61361409ce899cd7c49a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>ace12bd71e7d173602fe1f57f7abad24c</anchor>
      <arglist>(const ConstraintSphericalTpl &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>a5d8b9daf3cc97468ccfc705d036a9fd8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>aeee0603b54a5a7d5c9bf36ac603ee679</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>a3cf7efa794c7c7f2e5269e0c0b8ba53f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>ae0747f0f8b15981fe4ed363bcb132233</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>a3c9b39e2484e85a3d2c8267fda851e36</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl.html</anchorfile>
      <anchor>a09cd25773628ee5d2acaaccd4ebbbce0</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintSphericalZYXTpl</name>
    <filename>structpinocchio_1_1ConstraintSphericalZYXTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintSphericalZYXTpl::ConstraintTranspose</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a17db46a8e4f4462c728a9a912a72aaecae65e9f63cd8dabc2f1ea2267475c1261</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>ace39d5b05e72ce06494cf132a89e6b23</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a17db46a8e4f4462c728a9a912a72aaecae65e9f63cd8dabc2f1ea2267475c1261</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>aa173f9ce14f0d6a198d96dee70777f87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix3 &amp;</type>
      <name>angularSubspace</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a84d056ac95e8d1334b71a23986afcbb6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Matrix3 &amp;</type>
      <name>angularSubspace</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a666d519f6984a773b22856473a81a81f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintSphericalZYXTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>ae069c5ffbb8808f897dfd14969e5a470</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintSphericalZYXTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a0415e4420ebccae01aca2918829db8fc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;subspace)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>aaaf5b5950ad0effcfff57cb5b2b6ea34</anchor>
      <arglist>(const ConstraintSphericalZYXTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a59d7493931a6d633b9e9fd79c3acba7f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a2ef2730c0bb0043491b6d7b8431968a5</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a4b7cf4a81e492bfab8784688f237dfc6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Matrix3 &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a942d3be6a6f4ac5ba997a078b5765f54</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Matrix3 &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a89a38fd2487d96d7843aaefd348571d0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 6, 3, Options &gt;</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>addc63595f51f49c8c0832d53490fa6c8</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 6, 3, Options &gt;</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a52e6c7432cd64bf85f11d20e538d7567</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTranspose</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a5393f4a16e3acf6e5b7f269c3496ece5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix3</type>
      <name>m_S</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl.html</anchorfile>
      <anchor>a2e70319fda63beee9d6f3629b85c6521</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintTpl</name>
    <filename>structpinocchio_1_1ConstraintTpl.html</filename>
    <templarg>_Dim</templarg>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintTpl::Transpose</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a1aec278ea2af026c4cdd66b0e35a3ee6afcf3bf3c83e37a71e9bfb448a18a6c4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a1aec278ea2af026c4cdd66b0e35a3ee6afcf3bf3c83e37a71e9bfb448a18a6c4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>ac6cf7ca13718f02d8670ce04f9d4bef8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vj) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a430f6591afd7de19ce22815f34ed52ca</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;_S)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a9713f1b9bf184fd1067e01b4648dd208</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a1e3b3b3f7a71a85f9157e807eb7d64b0</anchor>
      <arglist>(const int dim)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a64023605ea0f9e11a21bff4f7490f11d</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a83663de10c425a2009cb0b753d50abb2</anchor>
      <arglist>(const ConstraintTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>MatrixReturnType</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a1d6da5441f0e274ccf1192ad52b06137</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstMatrixReturnType</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a0eaa3e56ece24c73a72943f111ab9eb6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a0df751827743d6ba903c307d748cb0ac</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>ac9b7498140b883c98bc7af7aae9f240f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a6688c4bd82981e96ca03922ea9458b5b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a3e63b1819a467b602d908bf73c5f86b6</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>Transpose</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a66ed0eb1b22842dc91ee2ab4b25f3870</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConstraintTpl</type>
      <name>Zero</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a6bcf5429e2893fbf569a3c4b54166df8</anchor>
      <arglist>(const int dim)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ConstraintBase&lt; ConstraintTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a1d07c1ff905f87fde8a68556bd954aad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DenseBase</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a46e0cf1cc7e9ab1d3b2639ac0ca8a090</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>ConstraintBase&lt; ConstraintTpl &gt;</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a48635c49540774a1eb1ccec7eda29c59</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend ConstraintTpl&lt; _Dim, _Scalar, _Options &gt;::DenseBase</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a2d70eb74de08e06619096fe85ffd8c56</anchor>
      <arglist>(const InertiaTpl&lt; S2, O2 &gt; &amp;Y, const ConstraintTpl &amp;S)</arglist>
    </member>
    <member kind="friend">
      <type>friend Eigen::Matrix&lt; _Scalar, 6, _Dim &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl.html</anchorfile>
      <anchor>a2f9bb8a6fa6d1860e5b56697fafd3992</anchor>
      <arglist>(const Eigen::Matrix&lt; S2, 6, 6, O2 &gt; &amp;Ymatrix, const ConstraintTpl &amp;S)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintTranslationTpl</name>
    <filename>structpinocchio_1_1ConstraintTranslationTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>ConstraintBase&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <class kind="struct">pinocchio::ConstraintTranslationTpl::ConstraintTranspose</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>afa6c3891a5ac77b5eed9b3d7fabbb6fda6baa76b7441b6a7986f2408b054765ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>afa6c3891a5ac77b5eed9b3d7fabbb6fda6baa76b7441b6a7986f2408b054765ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>ac36e59466a5237c524cea14896e12338</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintTranslationTpl</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>ac6a1f9333703850258c7ef72a5fb9516</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>a5ae271d5bfccbc34e207913bc4cd4601</anchor>
      <arglist>(const ConstraintTranslationTpl &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>a67ce955458c32fcc946524a479554a84</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>ace58c8af010310f917db5ae35ad14e2d</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>abeb69fb394a1869b02891b7de5120b95</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>a837f5e341395998348e0f01bdd81527c</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>a0fed5b837729935dcd9abe92bf18d119</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTranspose</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl.html</anchorfile>
      <anchor>a5174bfad2cdfb4b67332a089d22aa5ba</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintSphericalZYXTpl::ConstraintTranspose</name>
    <filename>structpinocchio_1_1ConstraintSphericalZYXTpl_1_1ConstraintTranspose.html</filename>
    <member kind="function">
      <type></type>
      <name>ConstraintTranspose</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a280b3407f1d108a85fddfde1ddaeb931</anchor>
      <arglist>(const ConstraintSphericalZYXTpl &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type>const MatrixMatrixProduct&lt; Eigen::Transpose&lt; const Matrix3 &gt;, Eigen::Block&lt; const typename ForceDense&lt; Derived &gt;::Vector6, 3, 1 &gt; &gt;::type</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>af1ecea5662071f03f7e7e3797fcb45e6</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>const MatrixMatrixProduct&lt; typename Eigen::Transpose&lt; const Matrix3 &gt;, typename Eigen::MatrixBase&lt; const D &gt;::template NRowsBlockXpr&lt; 3 &gt;::Type &gt;::type</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>aa88eb04a63d214df540aa0ce910df99b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;F) const</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintSphericalZYXTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalZYXTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a7a3e2e4d06f5333cc2d6c062eb16a8ee</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintTranslationTpl::ConstraintTranspose</name>
    <filename>structpinocchio_1_1ConstraintTranslationTpl_1_1ConstraintTranspose.html</filename>
    <member kind="function">
      <type></type>
      <name>ConstraintTranspose</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a412cd5d48cc3c64f3d20d8b3456f3b61</anchor>
      <arglist>(const ConstraintTranslationTpl &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type>ForceDense&lt; Derived &gt;::ConstLinearType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a95a78d2cdf30b3ca073b5508af4c9ebd</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;phi)</arglist>
    </member>
    <member kind="function">
      <type>const SizeDepType&lt; 3 &gt;::RowsReturn&lt; MatrixDerived &gt;::ConstType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a06dd642342755bd026701043a4926a9d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixDerived &gt; &amp;F) const</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintTranslationTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintTranslationTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>aed5eef1b55d6bf827c900891bb9e68e0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintPlanarTpl::ConstraintTranspose</name>
    <filename>structpinocchio_1_1ConstraintPlanarTpl_1_1ConstraintTranspose.html</filename>
    <member kind="function">
      <type></type>
      <name>ConstraintTranspose</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a8359fa265a77595b22932698751334f5</anchor>
      <arglist>(const ConstraintPlanarTpl &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type>ForceDense&lt; Derived &gt;::Vector3</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a52fe03b7fcf40d6151fab0da07c7eb52</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;phi)</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintPlanarTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>a8576a9f6e23d467bee4bd9105fc062cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend Eigen::Matrix&lt; typename Eigen::MatrixBase&lt; Derived &gt;::Scalar, 3, Derived::ColsAtCompileTime &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintPlanarTpl_1_1ConstraintTranspose.html</anchorfile>
      <anchor>ae0ac11e0aa881033c30c06a7d0593d3c</anchor>
      <arglist>(const ConstraintTranspose &amp;, const Eigen::MatrixBase&lt; Derived &gt; &amp;F)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::convert_boost_python_object</name>
    <filename>structpinocchio_1_1python_1_1convert__boost__python__object.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>py::object</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1python_1_1convert__boost__python__object.html</anchorfile>
      <anchor>ab2d55da5616f30293330f0adb0bdf358</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>_from</name>
      <anchorfile>structpinocchio_1_1python_1_1convert__boost__python__object.html</anchorfile>
      <anchor>a31795d41ba97bb63f8cdda5ae0d0ccb7</anchor>
      <arglist>(type t)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static type</type>
      <name>_to</name>
      <anchorfile>structpinocchio_1_1python_1_1convert__boost__python__object.html</anchorfile>
      <anchor>ac493a1cb6c887a1086a0ee5df50ffdf0</anchor>
      <arglist>(T t)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::convert_type</name>
    <filename>structpinocchio_1_1python_1_1convert__type.html</filename>
    <templarg>T</templarg>
    <member kind="typedef">
      <type>T</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1python_1_1convert__type.html</anchorfile>
      <anchor>a268510d20ff1356211249f7dcb8fd321</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static type</type>
      <name>_from</name>
      <anchorfile>structpinocchio_1_1python_1_1convert__type.html</anchorfile>
      <anchor>afcca3a6a5b47e8357a987519f163b3e0</anchor>
      <arglist>(type t)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>_to</name>
      <anchorfile>structpinocchio_1_1python_1_1convert__type.html</anchorfile>
      <anchor>a53c6562d8939147563fd7efe42975150</anchor>
      <arglist>(T t)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::convert_type&lt; void &gt;</name>
    <filename>structpinocchio_1_1python_1_1convert__type_3_01void_01_4.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::CopyableVisitor</name>
    <filename>structpinocchio_1_1python_1_1CopyableVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1CopyableVisitor.html</anchorfile>
      <anchor>a743002aba4ba714042f08d39ab0e73b6</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static C</type>
      <name>copy</name>
      <anchorfile>structpinocchio_1_1python_1_1CopyableVisitor.html</anchorfile>
      <anchor>a83f1021c6463851bbeb850fdbaad0b71</anchor>
      <arglist>(const C &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dcrba::Coriolis</name>
    <filename>classdcrba_1_1Coriolis.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__call__</name>
      <anchorfile>classdcrba_1_1Coriolis.html</anchorfile>
      <anchor>a9e1f6755547f94f664fe41daefc60fe4</anchor>
      <arglist>(self, q, vq)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classdcrba_1_1Coriolis.html</anchorfile>
      <anchor>ab4152141a7c8b6a6a282356134695339</anchor>
      <arglist>(self, robot)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>C</name>
      <anchorfile>classdcrba_1_1Coriolis.html</anchorfile>
      <anchor>a098ad1b94bf065c6a0c8e728b69cf7d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classdcrba_1_1Coriolis.html</anchorfile>
      <anchor>a6cea3f3a6fbf261ad1d74d415f9a59cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Sxv</name>
      <anchorfile>classdcrba_1_1Coriolis.html</anchorfile>
      <anchor>aa2fc5ef4138cc48fd055f65e03ebe2fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>YS</name>
      <anchorfile>classdcrba_1_1Coriolis.html</anchorfile>
      <anchor>acf78da883542bd46727bda7b05f85e99</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>CRTPBase</name>
    <filename>structCRTPBase.html</filename>
    <templarg>D</templarg>
    <member kind="function">
      <type>D &amp;</type>
      <name>derived</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>af2d17b34e5a8f7e1084ca4907c951092</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const D &amp;</type>
      <name>derived</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a542fe69cc5212d37e1f7b404cdd3c85f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>f</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a5f269c7f80fae263c1faab7a8ef125b9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>g</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a741aa360d7bff10d5b1a9ec1f2d4c008</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>h</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a3e9255a524333dc4d3c85bd33653140c</anchor>
      <arglist>(const double &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>hh</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a35cdfbee7074a8c7b76a0b389602c570</anchor>
      <arglist>(const double &amp;x, const int &amp;y, const Eigen::MatrixXd &amp;z, const TestObj &amp;a)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>CRTPBase&lt; CRTPDerived &gt;</name>
    <filename>structCRTPBase.html</filename>
    <member kind="function">
      <type>CRTPDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>af2d17b34e5a8f7e1084ca4907c951092</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const CRTPDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a542fe69cc5212d37e1f7b404cdd3c85f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>f</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a5f269c7f80fae263c1faab7a8ef125b9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>g</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a741aa360d7bff10d5b1a9ec1f2d4c008</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>h</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a3e9255a524333dc4d3c85bd33653140c</anchor>
      <arglist>(const double &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>hh</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a35cdfbee7074a8c7b76a0b389602c570</anchor>
      <arglist>(const double &amp;x, const int &amp;y, const Eigen::MatrixXd &amp;z, const TestObj &amp;a)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>CRTPBase&lt; CRTPDerived2 &gt;</name>
    <filename>structCRTPBase.html</filename>
    <member kind="function">
      <type>CRTPDerived2 &amp;</type>
      <name>derived</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>af2d17b34e5a8f7e1084ca4907c951092</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const CRTPDerived2 &amp;</type>
      <name>derived</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a542fe69cc5212d37e1f7b404cdd3c85f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>f</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a5f269c7f80fae263c1faab7a8ef125b9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>g</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a741aa360d7bff10d5b1a9ec1f2d4c008</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>h</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a3e9255a524333dc4d3c85bd33653140c</anchor>
      <arglist>(const double &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>hh</name>
      <anchorfile>structCRTPBase.html</anchorfile>
      <anchor>a35cdfbee7074a8c7b76a0b389602c570</anchor>
      <arglist>(const double &amp;x, const int &amp;y, const Eigen::MatrixXd &amp;z, const TestObj &amp;a)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>CRTPDerived</name>
    <filename>structCRTPDerived.html</filename>
    <base>CRTPBase&lt; CRTPDerived &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>f</name>
      <anchorfile>structCRTPDerived.html</anchorfile>
      <anchor>a9ac8838efb61968f345fd1d62f1756f3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>g</name>
      <anchorfile>structCRTPDerived.html</anchorfile>
      <anchor>ad3b1e4d592b5756460bdaa11d2c73340</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>h</name>
      <anchorfile>structCRTPDerived.html</anchorfile>
      <anchor>a8fba170cec5e4bebd085cf961254b790</anchor>
      <arglist>(const double &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>hh</name>
      <anchorfile>structCRTPDerived.html</anchorfile>
      <anchor>a77ad8d4e9e328712f91e1d7bb55a0d74</anchor>
      <arglist>(const double &amp;x, const int &amp;y, const Eigen::MatrixXd &amp;z, const TestObj &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>CRTPDerived2</name>
    <filename>structCRTPDerived2.html</filename>
    <base>CRTPBase&lt; CRTPDerived2 &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>f</name>
      <anchorfile>structCRTPDerived2.html</anchorfile>
      <anchor>a2727253ab1871c80853a3d487846ebad</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>g</name>
      <anchorfile>structCRTPDerived2.html</anchorfile>
      <anchor>a65a99df0e692dccf814478170194fe2f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>h</name>
      <anchorfile>structCRTPDerived2.html</anchorfile>
      <anchor>a6522fd7fecc019663494b121c89ee643</anchor>
      <arglist>(const double &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>hh</name>
      <anchorfile>structCRTPDerived2.html</anchorfile>
      <anchor>a63719f61d419f37fc454c1f05e802c08</anchor>
      <arglist>(const double &amp;x, const int &amp;y, const Eigen::MatrixXd &amp;z, const TestObj &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::DataPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1DataPythonVisitor.html</filename>
    <member kind="typedef">
      <type>Data::Matrix3x</type>
      <name>Matrix3x</name>
      <anchorfile>structpinocchio_1_1python_1_1DataPythonVisitor.html</anchorfile>
      <anchor>a483e41df2e0179958d172e8e94a69178</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Data::Matrix6x</type>
      <name>Matrix6x</name>
      <anchorfile>structpinocchio_1_1python_1_1DataPythonVisitor.html</anchorfile>
      <anchor>a7d820e27fd71659eb726def17559e3b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Data::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1python_1_1DataPythonVisitor.html</anchorfile>
      <anchor>aeebaf39e3453e16247789acc062005d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1DataPythonVisitor.html</anchorfile>
      <anchor>a03d88da04b8dd1b15b13a10568dd7364</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1DataPythonVisitor.html</anchorfile>
      <anchor>ae4fc6168f00a0863b2b53dcfe1274d03</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::DataTpl</name>
    <filename>structpinocchio_1_1DataTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>Serializable&lt; DataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>afbcb555dfca2a5f5367e0ce28308627ba2d6c76236dec0ea00394323669e0e8e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 10, Options &gt;</type>
      <name>BodyRegressorType</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>accd7cce85b7be418a921f97f21f33bba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>ConfigVectorType</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac10fb94297217a84e46ec467e87db5b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a559f0fc87e3afad290c7728a3e9141c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; Scalar, Options &gt;</type>
      <name>Frame</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a611e02ded10e4faf3d7be7f6ad7e103f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::FrameIndex</type>
      <name>FrameIndex</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad4b99812a9e4440705bb23bdec7efaf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::GeomIndex</type>
      <name>GeomIndex</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a70b4f391c8aabb8b239807e91abe01c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Index</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a05ae9675b3f73569eb5911a1b22477dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Index &gt;</type>
      <name>IndexVector</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>acbaa13846edec3e0c17805538b6ea543</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4d0ef57b5fbe2c5bc2cbac9f495dc4ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab0c5198ec26ba89a06a99ab88b447613</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1d6008efac688a97fc3f1328b81a232c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a70499b603c5bc1c5c1911479259ccf93</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModel</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac589dd22301bff138dbcca110e24b98c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, Eigen::Dynamic, Options &gt;</type>
      <name>Matrix3x</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad236b0c27c778ca7356374244739c41e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aaeacb2e90f6791d9174e52425df5c93c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>Matrix6x</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a6971b06c1a3e39f1d8edfa048b1b6fef</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ae43743da0b47985f6d91b761b3e55f32</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a195e0ca25fdb37468a3fb4647d878492</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a3a51641b50f2fc17b633187453d82e6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>afbcb555dfca2a5f5367e0ce28308627ba2d6c76236dec0ea00394323669e0e8e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Eigen::RowMajor|Options &gt;</type>
      <name>RowMatrix6</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a504990e9327f3b757f0df26f3394a492</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options &gt;</type>
      <name>RowMatrixXs</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4cd13fa331c1aed686344aef3796e0bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a6f252d1a8583340ffab02d62fbf22eeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>TangentVectorType</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>acec53187eb7b45cc36b90efda7338f80</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Tensor&lt; Scalar, 3, Options &gt;</type>
      <name>Tensor3x</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>acdcfece3b5ee748a023cd6a8ca70858b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2f6ed8f9b56c7fee6118166850f8360b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6c</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af2500cc97e4a933bcea5ef482188f9c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 1, 6, Eigen::RowMajor|Options &gt;</type>
      <name>Vector6r</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a401c2d98d5a95504366db5ddd6670a9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1a7e8f04566dce6e5100243b7a6c744a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>DataTpl</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a9eb373e233466efbd63f679be013fb53</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>DataTpl</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2c6db96116332a78b105a5bf4f8098c6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a30241a819deea0a5d0470dc0fa44a473</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aef031d2420ddfaf5ab7643623717a14e</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a9a89b7dfc22f18e8ff9f32794e392540</anchor>
      <arglist>(Motion) a</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2d689984b8a645a553a419d389cdc177</anchor>
      <arglist>(Motion) oa</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a09057a20337e29aec4c780c7ede9bcb4</anchor>
      <arglist>(Motion) a_gf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a0a02f6af31e4034900aa3818e5c4b8a0</anchor>
      <arglist>(Motion) oa_gf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ae675d75197d3c08a9a36b3ea092245d9</anchor>
      <arglist>(Motion) v</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>afeede96f9e64fab8fec3e2953d6f6fa1</anchor>
      <arglist>(Motion) ov</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a183c39157e8d24c0fb3ac355662dd6d0</anchor>
      <arglist>(Force) f</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa47c6e4c4d0674df742eed593ffcac31</anchor>
      <arglist>(Force) of</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a9db1622a2f31d245440303b0597d7886</anchor>
      <arglist>(Force) h</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2a6382c6b724afbd9cb19e326ce6ff14</anchor>
      <arglist>(Force) oh</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8244c684ec934ebf67d8b1f82bff390a</anchor>
      <arglist>(SE3) oMi</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a747c14ac063a7beff38b4c16270669a2</anchor>
      <arglist>(SE3) liMi</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a97b30774994e961573e3150ecad86e84</anchor>
      <arglist>(SE3) oMf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4c9d2068fd69e9f2c12b3ff518e2a9d6</anchor>
      <arglist>(Inertia) Ycrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a67e0d8265998b8237a4a3510389319eb</anchor>
      <arglist>(Matrix6) dYcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a738d67ce53a52ad7417a461170b177a2</anchor>
      <arglist>(Matrix6) vxI</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aea0343a1530b888ff35fe2b941c9b2f0</anchor>
      <arglist>(Matrix6) Ivx</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a41af297d33190537b08e10e2a69f1714</anchor>
      <arglist>(Matrix6) B</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8c95c60bcfb716cf9f8b9d0fbbd4a314</anchor>
      <arglist>(Inertia) oinertias</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a498bbd4a73cc487584148e146cf6e14b</anchor>
      <arglist>(Inertia) oYcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac93af625284de346197df2368eb1487a</anchor>
      <arglist>(Matrix6) doYcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5b575adbe233e842f60273a520a403a7</anchor>
      <arglist>(Matrix6) Yaba</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a6364e4fa3b76a34d929f6baba0814e49</anchor>
      <arglist>(Matrix6x) Fcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aba33be021fdf0a92551c7214a2eaaef0</anchor>
      <arglist>(SE3) iMf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4976f9acf55fe2bf141da7cb00809f33</anchor>
      <arglist>(Vector3) com</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5004706a5d9c84025e49e43f40d2bdf6</anchor>
      <arglist>(Vector3) vcom</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>abdab64df985fbb0e17942d6563c42c71</anchor>
      <arglist>(Vector3) acom</arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>Ag</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac74a4eaa6f26e364ceb5e3962914e0b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>BodyRegressorType</type>
      <name>bodyRegressor</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad7943a0c329468cf8d59d0efea64d34d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>C</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa4c89a947d4d85ebc54d7073c15e3525</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>D</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a10a7acd9a813a39dda58d8c52e7d6106</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dadq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a83ab3aa8992a66956f00b729490155a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dqdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5db766526944e3fb2f5ca64c93bf0217</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dqdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>adab0c7eccddaa67c185b90f02e927d73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dvdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>abb6c92f939476ea5cf2c8071a205b31f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dAdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad4823bcdfd9dcd7350afbb08eb929975</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dAdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5edd5bc211808350991b34c3283d393d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dAg</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a922a26dbdb59b3f35f001d9edea4c1a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>ddJ</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a957ac58642b8f14820c5869e369a912e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>ddq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1f6016552422af272e8ab7b497130be2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>ddq_dq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a439d3965b61c096b3ae6941f36dfca51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>ddq_dv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aacd7d886d492c52d8c354f1aa0c4afa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dFda</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a31e64a62026b4d19804c7f96061649e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dFdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a251650c710df2a1fdd1c4443f500dec2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dFdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a773ae9d48c6304d14c33b9e038a92062</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dHdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8feb5b604e1726575eca384c8047f7d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Force</type>
      <name>dhg</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a631379348f41f097991bcee1e00aff49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab548ed7dc9eb9bbf09779cc7a341a63d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dJ</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2d18571857502b3f329531a52024c189</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>dq_after</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>add974b376d5d82bf80d8be939b1bd48c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_dq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a36ab790427a7f717ad95c8419f5e6242</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_dv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5896faa055f83c8daab7233e8a80fbcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dVdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a22c4a1bc91ccc3ca88e73a55300805f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>end_idx_v_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8a7f65646eeee7aead416e2c72bf4b29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>g</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ae3c51acb00b32d8c48d17657609074b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Force</type>
      <name>hg</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a76617cc2d8c87222bc9922260aed8d79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Inertia</type>
      <name>Ig</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a16a4fcb10400719a29e8a741874efcc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>impulse_c</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a0f659935c42ae9805b4087b47229a068</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>IS</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a7c6a5c8e91a5ca987a65a89089722ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6</type>
      <name>Itmp</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a81926e12832a818a73b58c2b43bbb81e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>J</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1c2c0d10611e3648bb8a8420ee17d1a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix3x</type>
      <name>Jcom</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab6241f26e3467a8e02fc7d9640e690bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>JMinvJt</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aef7b8b907b77a835e06ab684c178896d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointDataVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a3eb53637919388e2a6e0696848e4f9d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>jointTorqueRegressor</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a0b23cb8a3c51dc4fe3a67d88ad29fa04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>kinematic_hessians</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad8082646923924b36f932f6089a9f08d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Scalar</type>
      <name>kinetic_energy</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8a68919b9e534afd7e6230ff8abec11d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>lambda_c</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af1f48a2a704a61794e0628cf83478c83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>lastChild</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa310d633849880813b8215bdf1c227ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::LLT&lt; MatrixXs &gt;</type>
      <name>llt_JMinvJt</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab325ae4c6a87e862def3431601373cb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a893d4ceccbac19e04d1b2bf916ae9cdb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6</type>
      <name>M6tmp</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a794e0244f35551b88ce3bbc6c7355370</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RowMatrix6</type>
      <name>M6tmpR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1cd6ebb5c2386e6b83afd42d8123cd6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RowMatrix6</type>
      <name>M6tmpR2</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad650f8509dfddff86668a421760ed840</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Scalar &gt;</type>
      <name>mass</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a68731bd22cd4827eb36f14b6f4b0bffe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RowMatrixXs</type>
      <name>Minv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a70c9954c1c92fd6229191daba642236b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>nle</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aaa227eb0ab50d2f4a4b76c718e6d91ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvSubtree</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1b4f1cd0b89b7f5d79f1bc628dff06ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvSubtree_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa40087bc57beb95e33391be80963ee78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>parents_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a11bd260701ed9cd62e3dc84089758d70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Scalar</type>
      <name>potential_energy</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a50fd5e0aed557f0c4cfaf148eedc2c6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>psid</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab124e1f7a1177c82698bdf9228971778</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>psidd</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a133a3f696c9deadef022bb3e66298ae2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4337e1d4c12560a3c5238062455f03fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>SDinv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2d6707bdf76610d36b28b79d049e9d96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>sDUiJt</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1f5eb3a3440eaacec8846c97620b97a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>start_idx_v_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a12a7135234a980f3380bcc1389d42de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix3x</type>
      <name>staticRegressor</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a49d2370480e2605558a49961ca649a25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>supports_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af5e746442ee856dd558636862d0006e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>tau</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad3007287c21de2a393f5f41b560292e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>tmp</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a32a5baa885e45f8d790e71cb703125d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>torque_residual</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af6223f48edd2c213f2c1b7c645f83fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>u</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a577a61a907f23aca5bf019def8fe8324</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a39b353a2504262c3fbf7ab5e8bf50eb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a51a3914e801e08595f40d2b843215ef4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeLastChild</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2775e21fb8d0279049e46e4dc38f603d</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeParents_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a01852ff53ca6dd2e683fd110e9001896</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeSupports_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac50ce3dc0472964a6c4d860608dc27dc</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>DataTpl&lt; ADScalar, Options &gt;</name>
    <filename>structpinocchio_1_1DataTpl.html</filename>
    <base>pinocchio::serialization::Serializable</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 10, Options &gt;</type>
      <name>BodyRegressorType</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>accd7cce85b7be418a921f97f21f33bba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>ConfigVectorType</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac10fb94297217a84e46ec467e87db5b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a559f0fc87e3afad290c7728a3e9141c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; Scalar, Options &gt;</type>
      <name>Frame</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a611e02ded10e4faf3d7be7f6ad7e103f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::FrameIndex</type>
      <name>FrameIndex</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad4b99812a9e4440705bb23bdec7efaf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::GeomIndex</type>
      <name>GeomIndex</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a70b4f391c8aabb8b239807e91abe01c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Index</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a05ae9675b3f73569eb5911a1b22477dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Index &gt;</type>
      <name>IndexVector</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>acbaa13846edec3e0c17805538b6ea543</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4d0ef57b5fbe2c5bc2cbac9f495dc4ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab0c5198ec26ba89a06a99ab88b447613</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1d6008efac688a97fc3f1328b81a232c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a70499b603c5bc1c5c1911479259ccf93</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModel</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac589dd22301bff138dbcca110e24b98c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, Eigen::Dynamic, Options &gt;</type>
      <name>Matrix3x</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad236b0c27c778ca7356374244739c41e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aaeacb2e90f6791d9174e52425df5c93c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>Matrix6x</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a6971b06c1a3e39f1d8edfa048b1b6fef</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ae43743da0b47985f6d91b761b3e55f32</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a195e0ca25fdb37468a3fb4647d878492</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a3a51641b50f2fc17b633187453d82e6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>afbcb555dfca2a5f5367e0ce28308627ba2d6c76236dec0ea00394323669e0e8e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Eigen::RowMajor|Options &gt;</type>
      <name>RowMatrix6</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a504990e9327f3b757f0df26f3394a492</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options &gt;</type>
      <name>RowMatrixXs</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4cd13fa331c1aed686344aef3796e0bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a6f252d1a8583340ffab02d62fbf22eeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>TangentVectorType</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>acec53187eb7b45cc36b90efda7338f80</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Tensor&lt; Scalar, 3, Options &gt;</type>
      <name>Tensor3x</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>acdcfece3b5ee748a023cd6a8ca70858b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2f6ed8f9b56c7fee6118166850f8360b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6c</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af2500cc97e4a933bcea5ef482188f9c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 1, 6, Eigen::RowMajor|Options &gt;</type>
      <name>Vector6r</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a401c2d98d5a95504366db5ddd6670a9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1a7e8f04566dce6e5100243b7a6c744a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>DataTpl</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a9eb373e233466efbd63f679be013fb53</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>DataTpl</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2c6db96116332a78b105a5bf4f8098c6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a30241a819deea0a5d0470dc0fa44a473</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aef031d2420ddfaf5ab7643623717a14e</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a9a89b7dfc22f18e8ff9f32794e392540</anchor>
      <arglist>(Motion) a</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2d689984b8a645a553a419d389cdc177</anchor>
      <arglist>(Motion) oa</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a09057a20337e29aec4c780c7ede9bcb4</anchor>
      <arglist>(Motion) a_gf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a0a02f6af31e4034900aa3818e5c4b8a0</anchor>
      <arglist>(Motion) oa_gf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ae675d75197d3c08a9a36b3ea092245d9</anchor>
      <arglist>(Motion) v</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>afeede96f9e64fab8fec3e2953d6f6fa1</anchor>
      <arglist>(Motion) ov</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a183c39157e8d24c0fb3ac355662dd6d0</anchor>
      <arglist>(Force) f</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa47c6e4c4d0674df742eed593ffcac31</anchor>
      <arglist>(Force) of</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a9db1622a2f31d245440303b0597d7886</anchor>
      <arglist>(Force) h</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2a6382c6b724afbd9cb19e326ce6ff14</anchor>
      <arglist>(Force) oh</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8244c684ec934ebf67d8b1f82bff390a</anchor>
      <arglist>(SE3) oMi</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a747c14ac063a7beff38b4c16270669a2</anchor>
      <arglist>(SE3) liMi</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a97b30774994e961573e3150ecad86e84</anchor>
      <arglist>(SE3) oMf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4c9d2068fd69e9f2c12b3ff518e2a9d6</anchor>
      <arglist>(Inertia) Ycrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a67e0d8265998b8237a4a3510389319eb</anchor>
      <arglist>(Matrix6) dYcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a738d67ce53a52ad7417a461170b177a2</anchor>
      <arglist>(Matrix6) vxI</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aea0343a1530b888ff35fe2b941c9b2f0</anchor>
      <arglist>(Matrix6) Ivx</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a41af297d33190537b08e10e2a69f1714</anchor>
      <arglist>(Matrix6) B</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8c95c60bcfb716cf9f8b9d0fbbd4a314</anchor>
      <arglist>(Inertia) oinertias</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a498bbd4a73cc487584148e146cf6e14b</anchor>
      <arglist>(Inertia) oYcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac93af625284de346197df2368eb1487a</anchor>
      <arglist>(Matrix6) doYcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5b575adbe233e842f60273a520a403a7</anchor>
      <arglist>(Matrix6) Yaba</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a6364e4fa3b76a34d929f6baba0814e49</anchor>
      <arglist>(Matrix6x) Fcrb</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aba33be021fdf0a92551c7214a2eaaef0</anchor>
      <arglist>(SE3) iMf</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4976f9acf55fe2bf141da7cb00809f33</anchor>
      <arglist>(Vector3) com</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5004706a5d9c84025e49e43f40d2bdf6</anchor>
      <arglist>(Vector3) vcom</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>abdab64df985fbb0e17942d6563c42c71</anchor>
      <arglist>(Vector3) acom</arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>Ag</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac74a4eaa6f26e364ceb5e3962914e0b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>BodyRegressorType</type>
      <name>bodyRegressor</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad7943a0c329468cf8d59d0efea64d34d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>C</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa4c89a947d4d85ebc54d7073c15e3525</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>D</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a10a7acd9a813a39dda58d8c52e7d6106</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dadq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a83ab3aa8992a66956f00b729490155a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dqdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5db766526944e3fb2f5ca64c93bf0217</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dqdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>adab0c7eccddaa67c185b90f02e927d73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>d2tau_dvdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>abb6c92f939476ea5cf2c8071a205b31f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dAdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad4823bcdfd9dcd7350afbb08eb929975</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dAdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5edd5bc211808350991b34c3283d393d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dAg</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a922a26dbdb59b3f35f001d9edea4c1a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>ddJ</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a957ac58642b8f14820c5869e369a912e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>ddq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1f6016552422af272e8ab7b497130be2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>ddq_dq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a439d3965b61c096b3ae6941f36dfca51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>ddq_dv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aacd7d886d492c52d8c354f1aa0c4afa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dFda</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a31e64a62026b4d19804c7f96061649e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dFdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a251650c710df2a1fdd1c4443f500dec2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dFdv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a773ae9d48c6304d14c33b9e038a92062</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dHdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8feb5b604e1726575eca384c8047f7d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Force</type>
      <name>dhg</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a631379348f41f097991bcee1e00aff49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab548ed7dc9eb9bbf09779cc7a341a63d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dJ</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2d18571857502b3f329531a52024c189</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>dq_after</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>add974b376d5d82bf80d8be939b1bd48c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_dq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a36ab790427a7f717ad95c8419f5e6242</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>dtau_dv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a5896faa055f83c8daab7233e8a80fbcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>dVdq</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a22c4a1bc91ccc3ca88e73a55300805f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>end_idx_v_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8a7f65646eeee7aead416e2c72bf4b29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>g</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ae3c51acb00b32d8c48d17657609074b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Force</type>
      <name>hg</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a76617cc2d8c87222bc9922260aed8d79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Inertia</type>
      <name>Ig</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a16a4fcb10400719a29e8a741874efcc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>impulse_c</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a0f659935c42ae9805b4087b47229a068</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>IS</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a7c6a5c8e91a5ca987a65a89089722ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6</type>
      <name>Itmp</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a81926e12832a818a73b58c2b43bbb81e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>J</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1c2c0d10611e3648bb8a8420ee17d1a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix3x</type>
      <name>Jcom</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab6241f26e3467a8e02fc7d9640e690bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>JMinvJt</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aef7b8b907b77a835e06ab684c178896d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointDataVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a3eb53637919388e2a6e0696848e4f9d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>jointTorqueRegressor</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a0b23cb8a3c51dc4fe3a67d88ad29fa04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Tensor3x</type>
      <name>kinematic_hessians</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad8082646923924b36f932f6089a9f08d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Scalar</type>
      <name>kinetic_energy</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a8a68919b9e534afd7e6230ff8abec11d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>lambda_c</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af1f48a2a704a61794e0628cf83478c83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>lastChild</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa310d633849880813b8215bdf1c227ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::LLT&lt; MatrixXs &gt;</type>
      <name>llt_JMinvJt</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab325ae4c6a87e862def3431601373cb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a893d4ceccbac19e04d1b2bf916ae9cdb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6</type>
      <name>M6tmp</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a794e0244f35551b88ce3bbc6c7355370</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RowMatrix6</type>
      <name>M6tmpR</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1cd6ebb5c2386e6b83afd42d8123cd6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RowMatrix6</type>
      <name>M6tmpR2</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad650f8509dfddff86668a421760ed840</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Scalar &gt;</type>
      <name>mass</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a68731bd22cd4827eb36f14b6f4b0bffe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RowMatrixXs</type>
      <name>Minv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a70c9954c1c92fd6229191daba642236b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>nle</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aaa227eb0ab50d2f4a4b76c718e6d91ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvSubtree</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1b4f1cd0b89b7f5d79f1bc628dff06ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvSubtree_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>aa40087bc57beb95e33391be80963ee78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>parents_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a11bd260701ed9cd62e3dc84089758d70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Scalar</type>
      <name>potential_energy</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a50fd5e0aed557f0c4cfaf148eedc2c6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>psid</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ab124e1f7a1177c82698bdf9228971778</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>psidd</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a133a3f696c9deadef022bb3e66298ae2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ADScalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a4337e1d4c12560a3c5238062455f03fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>SDinv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2d6707bdf76610d36b28b79d049e9d96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>sDUiJt</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a1f5eb3a3440eaacec8846c97620b97a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>start_idx_v_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a12a7135234a980f3380bcc1389d42de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix3x</type>
      <name>staticRegressor</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a49d2370480e2605558a49961ca649a25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>supports_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af5e746442ee856dd558636862d0006e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>tau</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ad3007287c21de2a393f5f41b560292e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>tmp</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a32a5baa885e45f8d790e71cb703125d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>VectorXs</type>
      <name>torque_residual</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>af6223f48edd2c213f2c1b7c645f83fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>u</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a577a61a907f23aca5bf019def8fe8324</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MatrixXs</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a39b353a2504262c3fbf7ab5e8bf50eb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix6x</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a51a3914e801e08595f40d2b843215ef4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeLastChild</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a2775e21fb8d0279049e46e4dc38f603d</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeParents_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>a01852ff53ca6dd2e683fd110e9001896</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeSupports_fromRow</name>
      <anchorfile>structpinocchio_1_1DataTpl.html</anchorfile>
      <anchor>ac50ce3dc0472964a6c4d860608dc27dc</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dcrba::DCRBA</name>
    <filename>classdcrba_1_1DCRBA.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__call__</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>ac2dd46cfb699cee84ce7c8115d9ae220</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>a8ba9198a65d76d0770ab99ad19f01c26</anchor>
      <arglist>(self, robot)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>pre</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>a8c26d58f759fd1b069bcbacbd1e5d70a</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dM</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>a5532a45f2eb43e4ebca18afadef04f1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>a87fd150fdd35e725b5f7f1b30251fb5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>af48857b06c0b19c2768690431b5b18cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>aa395333b8f16bdea8d3da35c3351f42d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y</name>
      <anchorfile>classdcrba_1_1DCRBA.html</anchorfile>
      <anchor>a376046e3ad40ae70dd02f651977807e0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::deprecated_function</name>
    <filename>structpinocchio_1_1python_1_1deprecated__function.html</filename>
    <templarg></templarg>
    <base>pinocchio::python::deprecated_warning_policy</base>
    <member kind="function">
      <type></type>
      <name>deprecated_function</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__function.html</anchorfile>
      <anchor>a5906bb8556cc8de14920a8c960d9da49</anchor>
      <arglist>(const std::string &amp;warning_message=&quot;This function has been marked as deprecated and will be removed in a future release.&quot;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::deprecated_member</name>
    <filename>structpinocchio_1_1python_1_1deprecated__member.html</filename>
    <templarg></templarg>
    <base>pinocchio::python::deprecated_warning_policy</base>
    <member kind="function">
      <type></type>
      <name>deprecated_member</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__member.html</anchorfile>
      <anchor>a21945069d7d7734f70343b3e86806cb5</anchor>
      <arglist>(const std::string &amp;warning_message=&quot;This class member has been marked as deprecated and will be removed in a future release.&quot;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::deprecated_warning_policy</name>
    <filename>structpinocchio_1_1python_1_1deprecated__warning__policy.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>Policy::argument_package</type>
      <name>argument_package</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__warning__policy.html</anchorfile>
      <anchor>af03d47a44fef8a97cabcef1eba3ecc96</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Policy::result_converter</type>
      <name>result_converter</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__warning__policy.html</anchorfile>
      <anchor>a52c303a3253b541de9a1044f40bc467c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>deprecated_warning_policy</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__warning__policy.html</anchorfile>
      <anchor>a9367f99024985de93c16098880e68708</anchor>
      <arglist>(const std::string &amp;warning_message=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>precall</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__warning__policy.html</anchorfile>
      <anchor>a1e262ac6bfa23d8f30fc857cc5ca695a</anchor>
      <arglist>(ArgumentPackage const &amp;args) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const std::string</type>
      <name>m_warning_message</name>
      <anchorfile>structpinocchio_1_1python_1_1deprecated__warning__policy.html</anchorfile>
      <anchor>a3e6c3d5e3ae3d69503208d5158f869ac</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::deprecation::DeprecatedWarning</name>
    <filename>classpinocchio_1_1deprecation_1_1DeprecatedWarning.html</filename>
  </compound>
  <compound kind="class">
    <name>display::Display</name>
    <filename>classdisplay_1_1Display.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classdisplay_1_1Display.html</anchorfile>
      <anchor>a4b31ae888bd3cd7d2d694df377c99169</anchor>
      <arglist>(self, windowName=&quot;pinocchio&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>place</name>
      <anchorfile>classdisplay_1_1Display.html</anchorfile>
      <anchor>a20a9034905b725d282b9dea557888b35</anchor>
      <arglist>(self, objName, M, refresh=True)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classdisplay_1_1Display.html</anchorfile>
      <anchor>a6de525ee21c014ce6ef4933ed88c70de</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::DoublePendulumContinuousLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1DoublePendulumContinuousLoader.html</filename>
    <base>example_robot_data::robots_loader::DoublePendulumLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1DoublePendulumContinuousLoader.html</anchorfile>
      <anchor>ae07d3062e88e76ecf28c53d8b7f174b3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::DoublePendulumLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1DoublePendulumLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1DoublePendulumLoader.html</anchorfile>
      <anchor>ae0c20c9cb3b70d62ef4f932910ca2605</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1DoublePendulumLoader.html</anchorfile>
      <anchor>a8b49b6657e2f429fa3e2d499be18b0f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1DoublePendulumLoader.html</anchorfile>
      <anchor>a5a9dc9026e3c1738d1233f046b768643</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::DoublePendulumSimpleLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1DoublePendulumSimpleLoader.html</filename>
    <base>example_robot_data::robots_loader::DoublePendulumLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1DoublePendulumSimpleLoader.html</anchorfile>
      <anchor>a4397dbb51cd1595ef277d8f672eac761</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dpendulum::DPendulum</name>
    <filename>classdpendulum_1_1DPendulum.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>a7893e5b5847dd88921a426a2bda4e891</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>dynamics</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>afc7b22e3a3698ec3eb51a4576fa90f4c</anchor>
      <arglist>(self, ix, iu)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>goal</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>a56e69d28221b0fd9f9c27c496ccb1308</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nqv</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>ac1b69245e721a06f12e303331087c81a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nu</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>ad8d1470fdb70584ea77b7f8a4c70b0bc</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nx</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>ade4d3166d5a3d66cdc10d50097e202eb</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>render</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>ae5ae3ad2dd0673c2900a1f375164ff2d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>reset</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>a20f0b87790e5bdfcadcde945d2297158</anchor>
      <arglist>(self, x=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>step</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>af75923787caf5d2ec90ddbac32b39b39</anchor>
      <arglist>(self, iu)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pendulum</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>a8c39d791b235f0b0ef5b541bf6b5b5bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classdpendulum_1_1DPendulum.html</anchorfile>
      <anchor>a5ff75d7f10c4f717e1b06be2442a396a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dcrba::DRNEA</name>
    <filename>classdcrba_1_1DRNEA.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__call__</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>a2283c9bd783637f6f76b64a3cdd8c538</anchor>
      <arglist>(self, q, vq, aq)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>ac31d2d860d0f717b0ddaf858f186e31a</anchor>
      <arglist>(self, robot)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>a6216a2cc21cf3aa90ddfb24e1f01ae79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>ade1affbfcec81e6d8bc8944559ea14c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>ab3aa9b75413e5dccd8be3f549ed3f052</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>ae23170bc3f0093cfd56991ee4624dc51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>a98b2a7f2d2f4acbf604118996ec93b8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>aeca63b4bd8902142389f26630b936676</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Ycrb</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>a64ab8dc221827d3069f38cdef764fcdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Yvx</name>
      <anchorfile>classdcrba_1_1DRNEA.html</anchorfile>
      <anchor>a7a32d9d49ecbe65c37fdb0eb73f69f20</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::EmptyForwardStepBinaryVisit</name>
    <filename>structpinocchio_1_1EmptyForwardStepBinaryVisit.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointBinaryVisitorBase&lt; EmptyForwardStepBinaryVisit&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>fusion::NoArg</type>
      <name>ArgsType</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisit.html</anchorfile>
      <anchor>a61f05088f89f060299f7f69eb9acc75d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisit.html</anchorfile>
      <anchor>afca1901cb744f374a81308162262d1d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisit.html</anchorfile>
      <anchor>a53f4b0195046fac30df5cbb32c79a26b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static EIGEN_DONT_INLINE void</type>
      <name>algo</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisit.html</anchorfile>
      <anchor>a631459d973046bd3166b9d8766d7c153</anchor>
      <arglist>(const JointModelBase&lt; JointModel1 &gt; &amp;, const JointModelBase&lt; JointModel2 &gt; &amp;, JointDataBase&lt; typename JointModel1::JointDataDerived &gt; &amp;, JointDataBase&lt; typename JointModel2::JointDataDerived &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::EmptyForwardStepBinaryVisitNoData</name>
    <filename>structpinocchio_1_1EmptyForwardStepBinaryVisitNoData.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointBinaryVisitorBase&lt; EmptyForwardStepBinaryVisitNoData&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>fusion::NoArg</type>
      <name>ArgsType</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisitNoData.html</anchorfile>
      <anchor>a27a8e98c6fdf0784de264a2f7b1b1439</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisitNoData.html</anchorfile>
      <anchor>aa3b110055a72faf69f6505c80542c915</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisitNoData.html</anchorfile>
      <anchor>a78b5ec4ad07bf09c74c51d67aa73b50f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static EIGEN_DONT_INLINE void</type>
      <name>algo</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepBinaryVisitNoData.html</anchorfile>
      <anchor>aa87f9d5717a8c9f0f3a30f60be7d9806</anchor>
      <arglist>(const JointModelBase&lt; JointModel1 &gt; &amp;, const JointModelBase&lt; JointModel2 &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::EmptyForwardStepUnaryVisit</name>
    <filename>structpinocchio_1_1EmptyForwardStepUnaryVisit.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointUnaryVisitorBase&lt; EmptyForwardStepUnaryVisit&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>fusion::NoArg</type>
      <name>ArgsType</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisit.html</anchorfile>
      <anchor>a4a0a3c211c09e37e98de18ac5da076ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisit.html</anchorfile>
      <anchor>a417cd0895a265bc4a141431f74c33c31</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisit.html</anchorfile>
      <anchor>a198c2255746f462754fd4eace0ac8041</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisit.html</anchorfile>
      <anchor>ad077a65f69d3d6c48f66689ed06270d2</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;, JointDataBase&lt; typename JointModel::JointDataDerived &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::EmptyForwardStepUnaryVisitNoData</name>
    <filename>structpinocchio_1_1EmptyForwardStepUnaryVisitNoData.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointUnaryVisitorBase&lt; EmptyForwardStepUnaryVisitNoData&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>fusion::NoArg</type>
      <name>ArgsType</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisitNoData.html</anchorfile>
      <anchor>a9324e97c4673c6472644c670fc06507b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisitNoData.html</anchorfile>
      <anchor>a367650b2460073bbc4fc0201fd443dd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisitNoData.html</anchorfile>
      <anchor>a90d2931495608b3fda421f1e102a252c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static EIGEN_DONT_INLINE void</type>
      <name>algo</name>
      <anchorfile>structpinocchio_1_1EmptyForwardStepUnaryVisitNoData.html</anchorfile>
      <anchor>a2f3417794c4992cae567bdc6906daade</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::eval_set_dim</name>
    <filename>structpinocchio_1_1eval__set__dim.html</filename>
    <templarg>dim1</templarg>
    <templarg>dim2</templarg>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structpinocchio_1_1eval__set__dim.html</anchorfile>
      <anchor>a718e1934e1297de825c19d9a21815f98acab11e2ac020bb89bbdf2db937a86ec0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structpinocchio_1_1eval__set__dim.html</anchorfile>
      <anchor>a718e1934e1297de825c19d9a21815f98acab11e2ac020bb89bbdf2db937a86ec0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::eval_set_dim&lt; dim, Eigen::Dynamic &gt;</name>
    <filename>structpinocchio_1_1eval__set__dim_3_01dim_00_01Eigen_1_1Dynamic_01_4.html</filename>
    <templarg>dim</templarg>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structpinocchio_1_1eval__set__dim_3_01dim_00_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>a8eb3085d5f3f64ecc38a466ddce30d76a977b59ec1c86f1d82fc6fc1e0227da36</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structpinocchio_1_1eval__set__dim_3_01dim_00_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>a8eb3085d5f3f64ecc38a466ddce30d76a977b59ec1c86f1d82fc6fc1e0227da36</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::eval_set_dim&lt; Eigen::Dynamic, dim &gt;</name>
    <filename>structpinocchio_1_1eval__set__dim_3_01Eigen_1_1Dynamic_00_01dim_01_4.html</filename>
    <templarg>dim</templarg>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structpinocchio_1_1eval__set__dim_3_01Eigen_1_1Dynamic_00_01dim_01_4.html</anchorfile>
      <anchor>a03ceb75a49fe46c610b53282f256702ba118b0461c478cc46e69bfe75587c5b72</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structpinocchio_1_1eval__set__dim_3_01Eigen_1_1Dynamic_00_01dim_01_4.html</anchorfile>
      <anchor>a03ceb75a49fe46c610b53282f256702ba118b0461c478cc46e69bfe75587c5b72</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>factor::Factor</name>
    <filename>classfactor_1_1Factor.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classfactor_1_1Factor.html</anchorfile>
      <anchor>a446684a6c058b1938fc3b633df181919</anchor>
      <arglist>(self, index, matrix)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>index</name>
      <anchorfile>classfactor_1_1Factor.html</anchorfile>
      <anchor>af597360ace723bf555752a2b358fcceb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>matrix</name>
      <anchorfile>classfactor_1_1Factor.html</anchorfile>
      <anchor>a48e31f335f0048b3e8728d5df40af512</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>factor::FactorGraph</name>
    <filename>classfactor_1_1FactorGraph.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>afda7c04d2042a75e4fd982c84c836347</anchor>
      <arglist>(self, variableSize, nbVariables)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_factor</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a5eba120b8f935470d07fe6269f0fe28e</anchor>
      <arglist>(self, factors, reference)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_factor_constraint</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a141831f5957152061318e2f53c9e025d</anchor>
      <arglist>(self, factors, reference)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>matrix_form_factor</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a6fff3e31c9b557e4ba5ccf541db17ae6</anchor>
      <arglist>(self, factors)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>solve</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>ab26caabe17bd8c24bbd2fc957a09f6ea</anchor>
      <arglist>(self, eps=1e-8)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>A</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a839f9c8ce156d6c4141364bbf420879d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a0f538d77b35bfd8255f52553bc4a9e32</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>C</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a68f8fe5a19fd376a63720d5a47d99e71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>d</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a58190de37bdb1fd5f7d0e838012d4fa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>a0458398bc5343e55a0aecccea1cbfa2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nx</name>
      <anchorfile>classfactor_1_1FactorGraph.html</anchorfile>
      <anchor>ad6409a3097ba50eca98f78c3eefeb96b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fcl::FakeCollisionGeometry</name>
    <filename>structpinocchio_1_1fcl_1_1FakeCollisionGeometry.html</filename>
    <member kind="function">
      <type></type>
      <name>FakeCollisionGeometry</name>
      <anchorfile>structpinocchio_1_1fcl_1_1FakeCollisionGeometry.html</anchorfile>
      <anchor>ae8a581325aed9ff0da7c6b5291ba0286</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1fcl_1_1FakeCollisionGeometry.html</anchorfile>
      <anchor>ab2a2c4638d7410f231cad0fdf904a476</anchor>
      <arglist>(const FakeCollisionGeometry &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::FingerEduLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1FingerEduLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1FingerEduLoader.html</anchorfile>
      <anchor>a0945d216675a6a1860e03f4a8ecbf85a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1FingerEduLoader.html</anchorfile>
      <anchor>aa3843f2059b9441979bc5c9985c9325b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1FingerEduLoader.html</anchorfile>
      <anchor>a04e5d7b250692d1c67223fc16b69259b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1FingerEduLoader.html</anchorfile>
      <anchor>af97376187169eef44d34cacc53267986</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1FingerEduLoader.html</anchorfile>
      <anchor>ab1e0576ab76906fc0dfaed9bbe76ed42</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>FiniteDiffJoint</name>
    <filename>structFiniteDiffJoint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structFiniteDiffJoint.html</anchorfile>
      <anchor>af30d6ec7ea8becbf70a6e0e3cede70dc</anchor>
      <arglist>(JointModelComposite &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structFiniteDiffJoint.html</anchorfile>
      <anchor>a51f59f5922f01660fe0139965168c85e</anchor>
      <arglist>(JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>foot_steps::FootSteps</name>
    <filename>classfoot__steps_1_1FootSteps.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a4066494abf97917a6eb3c82e9fb792e2</anchor>
      <arglist>(self, right, left)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_phase</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>acec784e323c1d23798189d8990be3597</anchor>
      <arglist>(self, duration, foot, position=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_index_from_time</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>acc45772a822d97eeeb257d1b96d90e11</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_left_next_position</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a21ce54697fbc972afd516ef2a862f909</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_left_position</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>afc96b0da8e6ac0205a0086962b035230</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_phase_duration</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a65549329a317a871fb916b121105a3e4</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_phase_remaining</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>ab8b70153e7e2d0fcc2884613879de18f</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_phase_start</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a9c189f1603d6762de985a427f9f3c05e</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_phase_type</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a705e2b32495227b5254ca04cdde84e69</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_right_next_position</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a3d6673a9375da9ffb35a3f000a7f864a</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_right_position</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a7a0e00a8c05386fe1a0a48218ad959d1</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>is_double_from_left_to_right</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a3f43f2989556d88688677a716990f719</anchor>
      <arglist>(self, t)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>flying_foot</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>aad3d7f83b39497edce1bed797dd3013b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>left</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a1285586fab0becb89989e2832797707f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a82e72c362794066ac5f59fd65912469c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>classfoot__steps_1_1FootSteps.html</anchorfile>
      <anchor>a53b5ea270383df93db84a8cd4db01aff</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ForceBase</name>
    <filename>classpinocchio_1_1ForceBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>aa82bac353bdff3292a8cc163644a8e55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a8bc73b0bc9d3352ff75b810dbb9c3213</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a68fac2d3f2aea59c039f36b10068afbe</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;n)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>af380a0150d30cf3c953f31c4dffd95e1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a9daf823c12b6ea8210793b9ef5fdd9b1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>abc467a14cfc588c17619f8d78734dfd5</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a9008fc613dfa74c433106cdc5417f48c</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a19de0ec27d13d00d31803597dece6035</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>aea726e0d7f82cc377e22f29ade3a8baf</anchor>
      <arglist>(const Derived &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a12757031d57b429dc522b9caea607e01</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a7b3e50961d6c26ba6e1191fa01529106</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a114fb282abaa23fd7f72528bfecfc05e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a716a4552a46bbdebb44d6b0ffd6bc589</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; Derived, M1 &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a6ea502a343b56cbe4d7498bc652520d2</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a3309d838f3fea1b9c41a4c464fbea937</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>ac3845a7a7a5c44aa362c1c792f9101ca</anchor>
      <arglist>(const ForceBase&lt; F2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>ae89e8f5a5b7583a33ae96fd937405c0c</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>ab0edc42cb50ae6af8850448faf3dbb67</anchor>
      <arglist>(const ForceBase&lt; Derived &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>af80bd0b4e445ee7e97cf29f09926c640</anchor>
      <arglist>(const ForceBase&lt; Derived &gt; &amp;phi)</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a72b90c1bdbde61982d1dff89423d5e93</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a4cae671324c3b7a64b875f5d976af7ad</anchor>
      <arglist>(const ForceBase&lt; Derived &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>aef045cca9aeb478deb49fc5c8e255fed</anchor>
      <arglist>(const ForceBase&lt; Derived &gt; &amp;phi)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a6ac3b3d8c2c35bc2f5bfbafa3284069e</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>aa14ce0d1292a931b9fefccdf3ffb18c5</anchor>
      <arglist>(const ForceBase&lt; Derived &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a3d9b0d38fa019e89ecb2259b61b1bbcb</anchor>
      <arglist>(const ForceBase&lt; F2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a28da5cb89ebe54ea983a34f5507ab863</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a8fdee1b24bf49ed13deaaa96c84c695d</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a4511ea112642cf43e7f647b8d4fcdaba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>ac4692a9518c3e143641576661d915351</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ForceBase.html</anchorfile>
      <anchor>a8e32f6aace697381cf71cf1efa311df1</anchor>
      <arglist>(std::ostream &amp;os, const ForceBase&lt; Derived &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ForceDense</name>
    <filename>classpinocchio_1_1ForceDense.html</filename>
    <templarg>Derived</templarg>
    <base>pinocchio::ForceBase</base>
    <member kind="typedef">
      <type>ForceBase&lt; Derived &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5f1a2497cab2103538400d2912ce1a02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Derived &gt;::ForceRefType</type>
      <name>ForceRefType</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a927f8d7e07ebe4ffafea81133c5bf760</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad08254dad50dbffbd7c8a89d569f998b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac0f722cf102d591c5206ff638d067fc3</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a28599fe5c88234140cab9cd59a67d101</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e9b61e58cc692e55652aec5229ac170</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad0af664677c0764882047e2fd2bf85df</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a600991f776cd1cf1e9fa386f4163689f</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a837084673ed2fb2bb60a26193526ef4e</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a0e80a27d74e28e2381087df27fbeeb86</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a1652fb10f88b9cb7f925b8f8c0f5715a</anchor>
      <arglist>(const MotionDense&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa051786ec5eb11cee5253125ea946392</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a105dc46ea246f7f9343ebf824e977580</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e57af83543d079b2eda6fadd2b1c7f0</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3ff36a2a6f32d8e4915164b703cbdf63</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab60d1aad30bbf79df72a7be357c375d8</anchor>
      <arglist>(const ForceBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a7fd5452398c50f253126c7adf7953ccf</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab27a1251b9b1b63d232a7ef9c27e4644</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, ForceDense&lt; M2 &gt; &amp;fout) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a96966cda50621f1dcbaa4e7ab2f010c0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a42edfb16dcd818926e3b7f642d9bc10a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a16e3c2aabef6045bc5aedb9ab971c601</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a81d243637f17d998ac5036ace8db2332</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3bbb1d9c5371b19405e36070b3175223</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>abd8d30f2c1476b63b8bc547fc185e60a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a059c910296e386fd627d60c5a47b30e1</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa4e2a43c929bb11e4af6698dae3ec177</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a496b3c3257ee6a8ec7d697ba36a7c66b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a8ec291d1be28ec2307718d5e8164ac29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>af7b27564b82312de8db43b7429a81076</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a91752bceabb052b255699d4f62153dc4</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a4a588215c445d1452fb42d5ecb5a35b7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a61ec99e9a5404b45d349131a5ebbba6b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>setFrom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a723d6e1b3459dc9eca7eadecd1680c93</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac8a015b0f4a44d3243e7f603c3710ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab16731bf6638a78012bc78bfdab6b781</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ForceDense&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;</name>
    <filename>classpinocchio_1_1ForceDense.html</filename>
    <base>pinocchio::ForceBase</base>
    <member kind="typedef">
      <type>ForceBase&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5f1a2497cab2103538400d2912ce1a02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;::ForceRefType</type>
      <name>ForceRefType</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a927f8d7e07ebe4ffafea81133c5bf760</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad08254dad50dbffbd7c8a89d569f998b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac0f722cf102d591c5206ff638d067fc3</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a28599fe5c88234140cab9cd59a67d101</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e9b61e58cc692e55652aec5229ac170</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad0af664677c0764882047e2fd2bf85df</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a600991f776cd1cf1e9fa386f4163689f</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a837084673ed2fb2bb60a26193526ef4e</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a0e80a27d74e28e2381087df27fbeeb86</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a1652fb10f88b9cb7f925b8f8c0f5715a</anchor>
      <arglist>(const MotionDense&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa051786ec5eb11cee5253125ea946392</anchor>
      <arglist>(ForceRef&lt; const Vector6ArgType &gt;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a105dc46ea246f7f9343ebf824e977580</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e57af83543d079b2eda6fadd2b1c7f0</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3ff36a2a6f32d8e4915164b703cbdf63</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab60d1aad30bbf79df72a7be357c375d8</anchor>
      <arglist>(const ForceBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a7fd5452398c50f253126c7adf7953ccf</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab27a1251b9b1b63d232a7ef9c27e4644</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, ForceDense&lt; M2 &gt; &amp;fout) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a96966cda50621f1dcbaa4e7ab2f010c0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a42edfb16dcd818926e3b7f642d9bc10a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a16e3c2aabef6045bc5aedb9ab971c601</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a81d243637f17d998ac5036ace8db2332</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3bbb1d9c5371b19405e36070b3175223</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>abd8d30f2c1476b63b8bc547fc185e60a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a059c910296e386fd627d60c5a47b30e1</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa4e2a43c929bb11e4af6698dae3ec177</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a496b3c3257ee6a8ec7d697ba36a7c66b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a8ec291d1be28ec2307718d5e8164ac29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>af7b27564b82312de8db43b7429a81076</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a91752bceabb052b255699d4f62153dc4</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a4a588215c445d1452fb42d5ecb5a35b7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a61ec99e9a5404b45d349131a5ebbba6b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>setFrom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a723d6e1b3459dc9eca7eadecd1680c93</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac8a015b0f4a44d3243e7f603c3710ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab16731bf6638a78012bc78bfdab6b781</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ForceDense&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>classpinocchio_1_1ForceDense.html</filename>
    <base>pinocchio::ForceBase</base>
    <member kind="typedef">
      <type>ForceBase&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5f1a2497cab2103538400d2912ce1a02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ForceRef&lt; Vector6ArgType &gt; &gt;::ForceRefType</type>
      <name>ForceRefType</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a927f8d7e07ebe4ffafea81133c5bf760</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad08254dad50dbffbd7c8a89d569f998b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac0f722cf102d591c5206ff638d067fc3</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a28599fe5c88234140cab9cd59a67d101</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e9b61e58cc692e55652aec5229ac170</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad0af664677c0764882047e2fd2bf85df</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a600991f776cd1cf1e9fa386f4163689f</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a837084673ed2fb2bb60a26193526ef4e</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a0e80a27d74e28e2381087df27fbeeb86</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a1652fb10f88b9cb7f925b8f8c0f5715a</anchor>
      <arglist>(const MotionDense&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa051786ec5eb11cee5253125ea946392</anchor>
      <arglist>(ForceRef&lt; Vector6ArgType &gt;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a105dc46ea246f7f9343ebf824e977580</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e57af83543d079b2eda6fadd2b1c7f0</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3ff36a2a6f32d8e4915164b703cbdf63</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab60d1aad30bbf79df72a7be357c375d8</anchor>
      <arglist>(const ForceBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a7fd5452398c50f253126c7adf7953ccf</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab27a1251b9b1b63d232a7ef9c27e4644</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, ForceDense&lt; M2 &gt; &amp;fout) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a96966cda50621f1dcbaa4e7ab2f010c0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a42edfb16dcd818926e3b7f642d9bc10a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a16e3c2aabef6045bc5aedb9ab971c601</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a81d243637f17d998ac5036ace8db2332</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3bbb1d9c5371b19405e36070b3175223</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>abd8d30f2c1476b63b8bc547fc185e60a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a059c910296e386fd627d60c5a47b30e1</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa4e2a43c929bb11e4af6698dae3ec177</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a496b3c3257ee6a8ec7d697ba36a7c66b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a8ec291d1be28ec2307718d5e8164ac29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>af7b27564b82312de8db43b7429a81076</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a91752bceabb052b255699d4f62153dc4</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a4a588215c445d1452fb42d5ecb5a35b7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a61ec99e9a5404b45d349131a5ebbba6b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>setFrom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a723d6e1b3459dc9eca7eadecd1680c93</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac8a015b0f4a44d3243e7f603c3710ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab16731bf6638a78012bc78bfdab6b781</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ForceDense&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1ForceDense.html</filename>
    <base>pinocchio::ForceBase</base>
    <member kind="typedef">
      <type>ForceBase&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5f1a2497cab2103538400d2912ce1a02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;::ForceRefType</type>
      <name>ForceRefType</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a927f8d7e07ebe4ffafea81133c5bf760</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad08254dad50dbffbd7c8a89d569f998b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac0f722cf102d591c5206ff638d067fc3</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a28599fe5c88234140cab9cd59a67d101</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e9b61e58cc692e55652aec5229ac170</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad0af664677c0764882047e2fd2bf85df</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a600991f776cd1cf1e9fa386f4163689f</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a837084673ed2fb2bb60a26193526ef4e</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a0e80a27d74e28e2381087df27fbeeb86</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a1652fb10f88b9cb7f925b8f8c0f5715a</anchor>
      <arglist>(const MotionDense&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa051786ec5eb11cee5253125ea946392</anchor>
      <arglist>(ForceTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a105dc46ea246f7f9343ebf824e977580</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e57af83543d079b2eda6fadd2b1c7f0</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3ff36a2a6f32d8e4915164b703cbdf63</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab60d1aad30bbf79df72a7be357c375d8</anchor>
      <arglist>(const ForceBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a7fd5452398c50f253126c7adf7953ccf</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab27a1251b9b1b63d232a7ef9c27e4644</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, ForceDense&lt; M2 &gt; &amp;fout) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a96966cda50621f1dcbaa4e7ab2f010c0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a42edfb16dcd818926e3b7f642d9bc10a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a16e3c2aabef6045bc5aedb9ab971c601</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a81d243637f17d998ac5036ace8db2332</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3bbb1d9c5371b19405e36070b3175223</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>abd8d30f2c1476b63b8bc547fc185e60a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a059c910296e386fd627d60c5a47b30e1</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa4e2a43c929bb11e4af6698dae3ec177</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a496b3c3257ee6a8ec7d697ba36a7c66b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a8ec291d1be28ec2307718d5e8164ac29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>af7b27564b82312de8db43b7429a81076</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a91752bceabb052b255699d4f62153dc4</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a4a588215c445d1452fb42d5ecb5a35b7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a61ec99e9a5404b45d349131a5ebbba6b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>setFrom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a723d6e1b3459dc9eca7eadecd1680c93</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac8a015b0f4a44d3243e7f603c3710ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab16731bf6638a78012bc78bfdab6b781</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ForceDense&lt; pinocchio::ForceRef &gt;</name>
    <filename>classpinocchio_1_1ForceDense.html</filename>
    <base>pinocchio::ForceBase</base>
    <member kind="typedef">
      <type>ForceBase&lt; pinocchio::ForceRef &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5f1a2497cab2103538400d2912ce1a02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; pinocchio::ForceRef &gt;::ForceRefType</type>
      <name>ForceRefType</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a927f8d7e07ebe4ffafea81133c5bf760</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad08254dad50dbffbd7c8a89d569f998b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac0f722cf102d591c5206ff638d067fc3</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a28599fe5c88234140cab9cd59a67d101</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e9b61e58cc692e55652aec5229ac170</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad0af664677c0764882047e2fd2bf85df</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a600991f776cd1cf1e9fa386f4163689f</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a837084673ed2fb2bb60a26193526ef4e</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a0e80a27d74e28e2381087df27fbeeb86</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a1652fb10f88b9cb7f925b8f8c0f5715a</anchor>
      <arglist>(const MotionDense&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa051786ec5eb11cee5253125ea946392</anchor>
      <arglist>(pinocchio::ForceRef)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a105dc46ea246f7f9343ebf824e977580</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e57af83543d079b2eda6fadd2b1c7f0</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3ff36a2a6f32d8e4915164b703cbdf63</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab60d1aad30bbf79df72a7be357c375d8</anchor>
      <arglist>(const ForceBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a7fd5452398c50f253126c7adf7953ccf</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab27a1251b9b1b63d232a7ef9c27e4644</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, ForceDense&lt; M2 &gt; &amp;fout) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a96966cda50621f1dcbaa4e7ab2f010c0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a42edfb16dcd818926e3b7f642d9bc10a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a16e3c2aabef6045bc5aedb9ab971c601</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a81d243637f17d998ac5036ace8db2332</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3bbb1d9c5371b19405e36070b3175223</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>abd8d30f2c1476b63b8bc547fc185e60a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a059c910296e386fd627d60c5a47b30e1</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa4e2a43c929bb11e4af6698dae3ec177</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a496b3c3257ee6a8ec7d697ba36a7c66b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a8ec291d1be28ec2307718d5e8164ac29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>af7b27564b82312de8db43b7429a81076</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a91752bceabb052b255699d4f62153dc4</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a4a588215c445d1452fb42d5ecb5a35b7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a61ec99e9a5404b45d349131a5ebbba6b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>setFrom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a723d6e1b3459dc9eca7eadecd1680c93</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac8a015b0f4a44d3243e7f603c3710ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceRef &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab16731bf6638a78012bc78bfdab6b781</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ForceDense&lt; pinocchio::ForceTpl &gt;</name>
    <filename>classpinocchio_1_1ForceDense.html</filename>
    <base>pinocchio::ForceBase</base>
    <member kind="typedef">
      <type>ForceBase&lt; pinocchio::ForceTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5f1a2497cab2103538400d2912ce1a02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; pinocchio::ForceTpl &gt;::ForceRefType</type>
      <name>ForceRefType</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a927f8d7e07ebe4ffafea81133c5bf760</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad08254dad50dbffbd7c8a89d569f998b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac0f722cf102d591c5206ff638d067fc3</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a28599fe5c88234140cab9cd59a67d101</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e9b61e58cc692e55652aec5229ac170</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ad0af664677c0764882047e2fd2bf85df</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a600991f776cd1cf1e9fa386f4163689f</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a837084673ed2fb2bb60a26193526ef4e</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a0e80a27d74e28e2381087df27fbeeb86</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a1652fb10f88b9cb7f925b8f8c0f5715a</anchor>
      <arglist>(const MotionDense&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa051786ec5eb11cee5253125ea946392</anchor>
      <arglist>(pinocchio::ForceTpl)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a105dc46ea246f7f9343ebf824e977580</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a5e57af83543d079b2eda6fadd2b1c7f0</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;f, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3ff36a2a6f32d8e4915164b703cbdf63</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab60d1aad30bbf79df72a7be357c375d8</anchor>
      <arglist>(const ForceBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a7fd5452398c50f253126c7adf7953ccf</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab27a1251b9b1b63d232a7ef9c27e4644</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, ForceDense&lt; M2 &gt; &amp;fout) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a96966cda50621f1dcbaa4e7ab2f010c0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a42edfb16dcd818926e3b7f642d9bc10a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a16e3c2aabef6045bc5aedb9ab971c601</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a81d243637f17d998ac5036ace8db2332</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a3bbb1d9c5371b19405e36070b3175223</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>abd8d30f2c1476b63b8bc547fc185e60a</anchor>
      <arglist>(const ForceDense&lt; F1 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a059c910296e386fd627d60c5a47b30e1</anchor>
      <arglist>(const ForceDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>aa4e2a43c929bb11e4af6698dae3ec177</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a496b3c3257ee6a8ec7d697ba36a7c66b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a8ec291d1be28ec2307718d5e8164ac29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>af7b27564b82312de8db43b7429a81076</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a91752bceabb052b255699d4f62153dc4</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a4a588215c445d1452fb42d5ecb5a35b7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, ForceDense&lt; D2 &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ForcePlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a61ec99e9a5404b45d349131a5ebbba6b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>setFrom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>a723d6e1b3459dc9eca7eadecd1680c93</anchor>
      <arglist>(const ForceDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ac8a015b0f4a44d3243e7f603c3710ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::ForceTpl &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1ForceDense.html</anchorfile>
      <anchor>ab16731bf6638a78012bc78bfdab6b781</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::ForcePythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1ForcePythonVisitor.html</filename>
    <templarg></templarg>
    <class kind="struct">pinocchio::python::ForcePythonVisitor::Pickle</class>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a1d3b1756b353110c96157bdbd408790aab16b78eed8a41e5364557321f8138b06</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Vector3 &gt;</type>
      <name>MapVector3</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a2f26d41b8136e0b319a582418a909ca7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a1d3b1756b353110c96157bdbd408790aab16b78eed8a41e5364557321f8138b06</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Vector3 &gt;</type>
      <name>RefVector3</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a8b2f129f210f69df7729d5c2052c98ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Force::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a2116042a808b21534bdfc20194f45514</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Force::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a5f3ff5bc636d883bbabeca5095390a87</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Force::Vector6</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>aa362788575b3f512dfd045efaa847c39</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a603159979061a8ee88e5e762badbcce2</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>aec120d870c01fd176a66095d6ae66e35</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static RefVector3</type>
      <name>getAngular</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>ae85e2c303a1599597e7e7881d4b5fe74</anchor>
      <arglist>(Force &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static RefVector3</type>
      <name>getLinear</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a8a25e5dbabb56456dfdb9c9dc845be59</anchor>
      <arglist>(Force &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setAngular</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a80019e4c612463dd612c8d8b4919331c</anchor>
      <arglist>(Force &amp;self, const Vector3 &amp;n)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setLinear</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>ac46b67a0c3eef3a828a87d7316c76eec</anchor>
      <arglist>(Force &amp;self, const Vector3 &amp;f)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a807a0fa2169ce3d2eafab0cbb347a187</anchor>
      <arglist>(Force &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setVector</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>aa44ef127bd64cd5745d8de76cfca9a85</anchor>
      <arglist>(Force &amp;self, const Vector6 &amp;f)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setZero</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor.html</anchorfile>
      <anchor>a9c3e085868f860ddda93c1e7259dc67b</anchor>
      <arglist>(Force &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ForceRef</name>
    <filename>classpinocchio_1_1ForceRef.html</filename>
    <templarg>Vector6ArgType</templarg>
    <base>ForceDense&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</base>
    <member kind="typedef">
      <type>traits&lt; ForceRef &gt;::DataRefType</type>
      <name>DataRefType</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a6cf9689d57c16516e8c311e38b8bc36c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>ad8c8a051578c79fe25003a1b162fa527</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a6c58a14438e7ac82c727f1934bac9e19</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a4585b2e87a9ea6bedcd394a567a777f4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a94bccf81ac8aace8506a52d5ac6af621</anchor>
      <arglist>(ForceRef)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceRef</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>aedd64145900fd2afd5d34ff82d2d7d65</anchor>
      <arglist>(typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) f_like)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceRef</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>aa9b4897b77715b2a658f8880279e057c</anchor>
      <arglist>(const ForceRef &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a48e7771436960aa1a815235605d71f24</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a1a335aceddaea5499799556b8522d491</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>ae5b465fc839b52a6669bf0dfe82f8593</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef &amp;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a770b894afe9765191d20d40d28608501</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>aaef38515af567f43ba027e43a8a8d148</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a4e0881c8099a01e8b40539a6bc40dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ForceDense&lt; ForceRef &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a1f6f61fe99d39f563bbe95bf69d02a18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DataRefType</type>
      <name>m_ref</name>
      <anchorfile>classpinocchio_1_1ForceRef.html</anchorfile>
      <anchor>a1c254eb6e7885ff85383d0e66fc322be</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ForceRef&lt; const Vector6ArgType &gt;</name>
    <filename>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</filename>
    <templarg></templarg>
    <base>ForceDense&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;</base>
    <member kind="typedef">
      <type>traits&lt; ForceRef &gt;::DataRefType</type>
      <name>DataRefType</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ae8661377c65ea74ebf5e93bb50d24bfb</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ab3546d8a7737a450c689b5026e01fbc2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a15e738bc32effaadf911085bf221154d</anchor>
      <arglist>(ForceRef)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceRef</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>aa2f20c26c684b199431e0dc3a521f52f</anchor>
      <arglist>(typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) f_like)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>af96046b7cce528e1f1d8918b1188cbbc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ForceRef &amp;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ab6c8c16d05ceeddde76b3328618fe0a4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a11518acd7774105aa6a298a369500917</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ForceDense&lt; ForceRef &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ae3151ef569d3fe0b35e86c132a33612c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DataRefType</type>
      <name>m_ref</name>
      <anchorfile>classpinocchio_1_1ForceRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a012c33e4705a4441ef55ee59476bb062</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ForceSetTpl</name>
    <filename>classpinocchio_1_1ForceSetTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <class kind="struct">pinocchio::ForceSetTpl::Block</class>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a75770767a6485ad2028dfdb148951d5faad29bfdedf6ff51658869affa559d910</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>ad731b6b20720f2c5e207894ace224b2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, Eigen::Dynamic, Options &gt;</type>
      <name>Matrix3x</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>ab0440405f79bbb78910efbacc609b3d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a3c4d341ebe4215e8c00b332c479f8318</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>Matrix6x</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>ad0b8cb617dc4518d036bf446fd2d25f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a75770767a6485ad2028dfdb148951d5faad29bfdedf6ff51658869affa559d910</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>adeaaf522e981317d0524a8071294dea4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a28523454bc13c7c8f6d789fc4ef87042</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a6848042d89abb1c936b7afd024be57ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a8bc01d6f5b21ff56305a6e238fe70484</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const Matrix3x &amp;</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a6bcc5cfbcc98c6b3ef3d8ba249177e95</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Block</type>
      <name>block</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>ad936ca166b11abe4593055784b9ddca8</anchor>
      <arglist>(const int &amp;idx, const int &amp;len)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceSetTpl</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>adb3208acbd76ea34af364a96ce01c065</anchor>
      <arglist>(const int &amp;ncols)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceSetTpl</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a4ed3f6f648e0c31790c56c58c84cda2b</anchor>
      <arglist>(const Matrix3x &amp;linear, const Matrix3x &amp;angular)</arglist>
    </member>
    <member kind="function">
      <type>const Matrix3x &amp;</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a0a7c62bbcfd0c84dfe7e2175d3c1367a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6x</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a8ceb3abb2547119fb2226567b9011281</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6x</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a0ec3929fb59c416d72085a8116c2c768</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ForceSetTpl</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>acfc16bb2736cd37a9bdc7993d9739bda</anchor>
      <arglist>(const SE3 &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>ForceSetTpl</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a7a1d9f0edf6880430c0e6bd94e3d8751</anchor>
      <arglist>(const SE3 &amp;m) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix3x</type>
      <name>m_f</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a823ea3d4d45b6cbf9e15d81684944763</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix3x</type>
      <name>m_n</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a3fe2d85a9ff1af38b5aa0822ed6a9d56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>size</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a5103a337373a0d063f4c3fbe99184e49</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1ForceSetTpl.html</anchorfile>
      <anchor>a104dbc007792c86ed1fbe0646168466c</anchor>
      <arglist>(std::ostream &amp;os, const ForceSetTpl &amp;phi)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ForceTpl</name>
    <filename>classpinocchio_1_1ForceTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>ForceDense&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab9c32d1ba787fa136ef4931985e6fc1ca688787ed779808ca60e129ce9310d5fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab9c32d1ba787fa136ef4931985e6fc1ca688787ed779808ca60e129ce9310d5fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab6f4e710742bfa79ebe7d3a4f081737d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aca1f9da8025862e87e24f0d9d3fa2a29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ae2bedb374ab117ed6ed396ac22507691</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab00d21a6764977ec479d9e2079f18bfa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a0d34ce47da97dc6409e8387ed2c4b744</anchor>
      <arglist>(ForceTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a020b4ea94784e838db43f95e00f61ac7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aa4b22758c03939adf760e5a65cdbf9bc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;v, const Eigen::MatrixBase&lt; V2 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a05d4fc6ba0885b67215916466852b416</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>acb8052ed9090422f4ed3e4e412178c9b</anchor>
      <arglist>(const ForceTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>af49a432780d0d7e92be42a5b1ce3fa81</anchor>
      <arglist>(const ForceTpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a256f654721529247fd6616253eab8987</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a035c1ade2af11d0f04aae52d21b456ea</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a5536ed9012bbccd1fd48aefcde8e4759</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab2bce744769d5907e707aca01f8cd7dd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aeb1d26140489835299b0591cab2ca914</anchor>
      <arglist>(const ForceTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6 &gt;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a2eeba6d91ddb7725b4f5db3b24264bfd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a8c2393ce6dc4f175e8a3dc7f220fd2f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a5eb0b73104159c13d8a62008ea0a1b04</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ForceTpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aaa9560553c4b90a1dd28032d3be2e1aa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ForceTpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a3e398fd503424c18b82a49c2ca0351e1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ForceDense&lt; ForceTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a30b0bce53c66eb95e4e90e4d14c23952</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_data</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aae5a577cd13b95d08f09d6a285c66b0a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ForceTpl&lt; Scalar, Options &gt;</name>
    <filename>classpinocchio_1_1ForceTpl.html</filename>
    <base>pinocchio::ForceDense</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab9c32d1ba787fa136ef4931985e6fc1ca688787ed779808ca60e129ce9310d5fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab6f4e710742bfa79ebe7d3a4f081737d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aca1f9da8025862e87e24f0d9d3fa2a29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ae2bedb374ab117ed6ed396ac22507691</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab00d21a6764977ec479d9e2079f18bfa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FORCE_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a0d34ce47da97dc6409e8387ed2c4b744</anchor>
      <arglist>(ForceTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a020b4ea94784e838db43f95e00f61ac7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aa4b22758c03939adf760e5a65cdbf9bc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;v, const Eigen::MatrixBase&lt; V2 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a05d4fc6ba0885b67215916466852b416</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>acb8052ed9090422f4ed3e4e412178c9b</anchor>
      <arglist>(const ForceTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>af49a432780d0d7e92be42a5b1ce3fa81</anchor>
      <arglist>(const ForceTpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ForceTpl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a256f654721529247fd6616253eab8987</anchor>
      <arglist>(const ForceDense&lt; M2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a035c1ade2af11d0f04aae52d21b456ea</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a5536ed9012bbccd1fd48aefcde8e4759</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>ab2bce744769d5907e707aca01f8cd7dd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aeb1d26140489835299b0591cab2ca914</anchor>
      <arglist>(const ForceTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>ForceRef&lt; Vector6 &gt;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a2eeba6d91ddb7725b4f5db3b24264bfd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a8c2393ce6dc4f175e8a3dc7f220fd2f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a5eb0b73104159c13d8a62008ea0a1b04</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ForceTpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aaa9560553c4b90a1dd28032d3be2e1aa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ForceTpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a3e398fd503424c18b82a49c2ca0351e1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ForceDense&lt; ForceTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>a30b0bce53c66eb95e4e90e4d14c23952</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_data</name>
      <anchorfile>classpinocchio_1_1ForceTpl.html</anchorfile>
      <anchor>aae5a577cd13b95d08f09d6a285c66b0a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::FramePythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1FramePythonVisitor.html</filename>
    <class kind="struct">pinocchio::python::FramePythonVisitor::Pickle</class>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1FramePythonVisitor.html</anchorfile>
      <anchor>af74c1f8e7c7f21e24d321619f5e3460c</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1FramePythonVisitor.html</anchorfile>
      <anchor>ac6eee7d8bffc0177c9d9b7238302992b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::FrameTpl</name>
    <filename>structpinocchio_1_1FrameTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a5e75ac73f5f0cff3f1ee79558f44b42da222ac650fb218d13b6fe23a3a61d55bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>ade7700e59bb7bf3e589f15b98657e040</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a5e75ac73f5f0cff3f1ee79558f44b42da222ac650fb218d13b6fe23a3a61d55bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a74b9e0b8e867c7f7c936e1f4750f27ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>aa8b5862f3cbd3fee164db45ac8500685</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>FrameTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>af2cea13fd25e145b2b93c59ceea01835</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FrameTpl</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a6087c5f59a675d5cf8f9d6681fbd0692</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FrameTpl</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>aefc62f5545498d1de74aeb5ff5c5a8b1</anchor>
      <arglist>(const std::string &amp;name, const JointIndex parent, const FrameIndex previousFrame, const SE3 &amp;frame_placement, const FrameType type, const Inertia &amp;inertia=Inertia::Zero())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a8f3ae7b4aed831b4de18a4508aa1153b</anchor>
      <arglist>(const FrameTpl&lt; S2, O2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a94246433d875da6f627bc5054320a355</anchor>
      <arglist>(const FrameTpl&lt; S2, O2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="variable">
      <type>Inertia</type>
      <name>inertia</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>aa1035d3c844871852add1bd84a711bcd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>afbd97b1601f5a71252d33377cf0a0299</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>aec0bcc42e642a13d693b3b9da9d45c32</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointIndex</type>
      <name>parent</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>ae5abbe85609745c03d70aa46a06164dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>SE3</type>
      <name>placement</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>acc352fbe2ac7f92c80a03fd68047ae79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FrameIndex</type>
      <name>previousFrame</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a1b933e70f5f2135d1f79c04b5b1f1884</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FrameType</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1FrameTpl.html</anchorfile>
      <anchor>a9ec1ac8440fa958d1e709b5cf572e950</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::internal::function_wrapper</name>
    <filename>structpinocchio_1_1python_1_1internal_1_1function__wrapper.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::internal::function_wrapper&lt; R(*)(Args...)&gt;</name>
    <filename>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4.html</filename>
    <templarg></templarg>
    <templarg>Args</templarg>
    <class kind="struct">pinocchio::python::internal::function_wrapper&lt; R(*)(Args...)&gt;::arg</class>
    <member kind="typedef">
      <type>R(*</type>
      <name>func_type</name>
      <anchorfile>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4.html</anchorfile>
      <anchor>a3e8711ae8d2f4b55a3c1b697b7f6773d</anchor>
      <arglist>)(Args...)</arglist>
    </member>
    <member kind="typedef">
      <type>R</type>
      <name>result_type</name>
      <anchorfile>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4.html</anchorfile>
      <anchor>a45106bfa7dc7af71bb3d3b32e5f7f486</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>auto</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4.html</anchorfile>
      <anchor>a3153527a16aa40ca5a0e61d0627d7dc4</anchor>
      <arglist>(typename convert_type&lt; Args &gt;::type... args)</arglist>
    </member>
    <member kind="variable">
      <type>func_type</type>
      <name>f</name>
      <anchorfile>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4.html</anchorfile>
      <anchor>a91d48e8fb84e93dc1a12b465c4579d0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const size_t</type>
      <name>nargs</name>
      <anchorfile>structpinocchio_1_1python_1_1internal_1_1function__wrapper_3_01R_07_5_08_07Args_8_8_8_08_4.html</anchorfile>
      <anchor>ac5cae177b10f080dd6fd4a724c3f4da8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::GeometryData</name>
    <filename>structpinocchio_1_1GeometryData.html</filename>
    <base>Serializable&lt; GeometryData &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a7463fca892fe93eee5fbf95d1285558ba099dde36c73fb29e862529c5db92b4b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; GeomIndex &gt;</type>
      <name>GeomIndexList</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>aaec50b1612caf2a9af0f49f34e33a77c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; bool, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>MatrixXb</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a6d90949cb121baaa427b6e32f84e514b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>MatrixXs</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a0469bef041ebbed4ff745f5c514c30d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a7463fca892fe93eee5fbf95d1285558ba099dde36c73fb29e862529c5db92b4b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a6b1934cf3658bc9f7b91daffc9836548</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>activateAllCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>aaa5aa511a5dd77f2a45ccbae06a18575</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>activateCollisionPair</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>abb00558468489bf6784b76bf3ea7b898</anchor>
      <arglist>(const PairIndex pair_id)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>deactivateAllCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a22d8c66f5539dd419a079875773e180a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>deactivateCollisionPair</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a562a1e2bcacf7d2348830ce9eb11ebfc</anchor>
      <arglist>(const PairIndex pair_id)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>fillInnerOuterObjectMaps</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>ad38cea31d38d12efa3bc56aa68ef2695</anchor>
      <arglist>(const GeometryModel &amp;geomModel)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GeometryData</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>aaafc27bd83b34d9065583e7ef500a2e2</anchor>
      <arglist>(const GeometryModel &amp;geom_model)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GeometryData</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>ad7ea490f7cdca257d7e6193dd840c655</anchor>
      <arglist>(const GeometryData &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GeometryData</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a5961729a42648dfded6e5d51143565fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>aac5fd4537d08914e9622761d943ff527</anchor>
      <arglist>(const GeometryData &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>GeometryData &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a4e8b7c6c53c372c2f6011c053db3b685</anchor>
      <arglist>(const GeometryData &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a70441852731a04f1cfa6b24f102c4a42</anchor>
      <arglist>(const GeometryData &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a40335ad4cff947cfc5f8ae10222483aa</anchor>
      <arglist>(SE3) oMg</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setActiveCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a4f5f285f24c5574caa3a905c65995a8d</anchor>
      <arglist>(const GeometryModel &amp;geom_model, const MatrixXb &amp;collision_map, const bool upper=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGeometryCollisionStatus</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a272ae529396b5a3f26c939904830bff5</anchor>
      <arglist>(const GeometryModel &amp;geom_model, const GeomIndex geom_id, bool enable_collision)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~GeometryData</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>aeffea1d21ea4571df1100f682c05213b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; bool &gt;</type>
      <name>activeCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>abbfab4ad5b880d83ad212a091821b4a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::map&lt; JointIndex, GeomIndexList &gt;</type>
      <name>innerObjects</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a2f6249de70b5078eff35f50b6e260fdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::map&lt; JointIndex, GeomIndexList &gt;</type>
      <name>outerObjects</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a0f6119e3217ea89e0c367ef7948bcf2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>a09b77b873ea1b0e0943ba324e90b387b</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1GeometryData.html</anchorfile>
      <anchor>ab485f712a3cfbd484f56afbd52b1896a</anchor>
      <arglist>(std::ostream &amp;os, const GeometryData &amp;geomData)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::GeometryDataPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1GeometryDataPythonVisitor.html</filename>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryDataPythonVisitor.html</anchorfile>
      <anchor>aadb2c1d24b8ef584f9c199ffb7510f2b</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryDataPythonVisitor.html</anchorfile>
      <anchor>aa25274666d2e24e40d13fcacb5f018b1</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::GeometryModel</name>
    <filename>structpinocchio_1_1GeometryModel.html</filename>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>afd71d93fe916f9634acb76472fa8d59da47645d464f686d151a23321db6bb4e94</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; CollisionPair &gt;</type>
      <name>CollisionPairVector</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>afc88dd196da7398cd335f998ac7ecb72</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::pinocchio::GeometryObject</type>
      <name>GeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a0f39faa1d99d709cfb8553f8742037b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::GeomIndex</type>
      <name>GeomIndex</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a1159b2f6d22c11151702db8b518d3a2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; bool, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>MatrixXb</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a9f4fe29bcbd3e9c47fc35a2fe18f5ab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>afd71d93fe916f9634acb76472fa8d59da47645d464f686d151a23321db6bb4e94</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>ad61180dfc6702c62fb1b73df34cf4634</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addAllCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a8d63093c084d742435cfcb4714e6150a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addCollisionPair</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>aa04fe9e21304229eab76300eba0fbf8f</anchor>
      <arglist>(const CollisionPair &amp;pair)</arglist>
    </member>
    <member kind="function">
      <type>GeomIndex</type>
      <name>addGeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a29e1dbb9650d5193525394a410525c17</anchor>
      <arglist>(const GeometryObject &amp;object, const ModelTpl&lt; S2, O2, _JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>GeomIndex</type>
      <name>addGeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>afd38f76613403b2d94dbfa64a104c1be</anchor>
      <arglist>(const GeometryObject &amp;object)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existCollisionPair</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a2e2cac02b7da6e0cb336c86b96fa305b</anchor>
      <arglist>(const CollisionPair &amp;pair) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existGeometryName</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a46af6e82c026841c6b14fb6a67d7e75c</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>PairIndex</type>
      <name>findCollisionPair</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a70aefb34ecc8b4dfd33b0aa451c91438</anchor>
      <arglist>(const CollisionPair &amp;pair) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GeometryModel</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a4110a004cd82fc7831f3fc5dabbf122e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>GeomIndex</type>
      <name>getGeometryId</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a9a1e85e917e18359d31f6fe19c41616f</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>ad8507d9b312fc7b383e85349eeb0979b</anchor>
      <arglist>(const GeometryModel &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a45686e7a0356d5ac19f39b51781e7e7a</anchor>
      <arglist>(const GeometryModel &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a4985f5b0d5265891ac4442303ce4c2b8</anchor>
      <arglist>(GeometryObject) GeometryObjectVector</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeAllCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a62b4a8013072ce1dbb5ad6f9db932ef2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeCollisionPair</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>aaf15651e3676d1509e19305aa005863b</anchor>
      <arglist>(const CollisionPair &amp;pair)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeGeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a399ecab35c2a7d6a4b5bb6c9b89f3908</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCollisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>ac73b7f06ed767a5d6b42ea8c24a9aa52</anchor>
      <arglist>(const MatrixXb &amp;collision_map, const bool upper=true)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~GeometryModel</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a1c3488e46dcd8d2badd0c713c17ef3ee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>CollisionPairVector</type>
      <name>collisionPairs</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a51322573c9a8be4f4b9e5a9849751101</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GeometryObjectVector</type>
      <name>geometryObjects</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a3d03c611cb756fa90af6ef67943d43c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Index</type>
      <name>ngeoms</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a656fefdac87268919a9c3e1410231beb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a6d5b8e441740fa3cec8dd5166d9b09ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1GeometryModel.html</anchorfile>
      <anchor>a3c052876998ebf5449360b7223fd7bc9</anchor>
      <arglist>(std::ostream &amp;os, const GeometryModel &amp;model_geom)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::GeometryModelPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1GeometryModelPythonVisitor.html</filename>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryModelPythonVisitor.html</anchorfile>
      <anchor>a69c1b3c177175c477ff4e645095e83f7</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static GeometryData</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryModelPythonVisitor.html</anchorfile>
      <anchor>a55a11060d2deca49452525d0b9932eac</anchor>
      <arglist>(const GeometryModel &amp;geomModel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryModelPythonVisitor.html</anchorfile>
      <anchor>af6ad03c28f3d1674015c7fd029957686</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::deprecated::GeometryObject</name>
    <filename>classpinocchio_1_1deprecated_1_1GeometryObject.html</filename>
    <member kind="function">
      <type>def</type>
      <name>fcl</name>
      <anchorfile>classpinocchio_1_1deprecated_1_1GeometryObject.html</anchorfile>
      <anchor>a29a38637ab9568f85a27505647bf3848</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::GeometryObject</name>
    <filename>structpinocchio_1_1GeometryObject.html</filename>
    <member kind="function">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS</type>
      <name>GeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a19bb4528570f9ba6c239cca40eb604ac</anchor>
      <arglist>(const std::string &amp;name, const FrameIndex parent_frame, const JointIndex parent_joint, const CollisionGeometryPtr &amp;collision_geometry, const SE3 &amp;placement, const std::string &amp;meshPath=&quot;&quot;, const Eigen::Vector3d &amp;meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &amp;meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &amp;meshTexturePath=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS</type>
      <name>GeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a7e46abb181bb88d19061d8573a149e50</anchor>
      <arglist>(const std::string &amp;name, const JointIndex parent_joint, const CollisionGeometryPtr &amp;collision_geometry, const SE3 &amp;placement, const std::string &amp;meshPath=&quot;&quot;, const Eigen::Vector3d &amp;meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &amp;meshColor=Eigen::Vector4d::Ones(), const std::string &amp;meshTexturePath=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS</type>
      <name>GeometryObject</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a71c3fbb4ce9baf8f56cb71ffd900a8d8</anchor>
      <arglist>(const GeometryObject &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_POP GeometryObject &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a5b03a851f9746b2ffecb00bd76bffc25</anchor>
      <arglist>(const GeometryObject &amp;other)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef shared_ptr&lt; fcl::CollisionGeometry &gt;</type>
      <name>CollisionGeometryPtr</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a8f23c14fdccbdeb9f1c528e8644d515c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>disableCollision</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a6da64d661f05b5202c9f2318874f274b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_DEPRECATED CollisionGeometryPtr &amp;</type>
      <name>fcl</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a53c89ad27ea0a79df46a0f4edf1fb769</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>CollisionGeometryPtr</type>
      <name>geometry</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a0aa8ec3c46f537cd314fd149546ba3ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Vector4d</type>
      <name>meshColor</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a1d65359009ce0f34c4c6162eb2f3ec66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>meshPath</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a186d90cb445902f2165a364070035855</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Vector3d</type>
      <name>meshScale</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a5479c81a48d29714d2cc4290e74a4dbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>meshTexturePath</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a3e9250d6af031186c34797dedf2d2dfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a475c6d0c0ae629f89ba1842fb54870d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>overrideMaterial</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>acfb2b94b9bfdb046e984ae2e7e897f19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FrameIndex</type>
      <name>parentFrame</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a1597d805b5edcb5594d1b188302a4121</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointIndex</type>
      <name>parentJoint</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a28c41db56c99f9abc7e02ea6a2636121</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>SE3</type>
      <name>placement</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a899590c364ef060e95a3d42558c6fa57</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1GeometryObject.html</anchorfile>
      <anchor>a091345ad5ff722229e8f3ed1a595204c</anchor>
      <arglist>(std::ostream &amp;os, const GeometryObject &amp;geomObject)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::GeometryObjectPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1GeometryObjectPythonVisitor.html</filename>
    <member kind="typedef">
      <type>GeometryObject::CollisionGeometryPtr</type>
      <name>CollisionGeometryPtr</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryObjectPythonVisitor.html</anchorfile>
      <anchor>a4fff9793105c52f5852179be19d257f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryObjectPythonVisitor.html</anchorfile>
      <anchor>aa8086dad4ea9c263de081bb4d2f79309</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryObjectPythonVisitor.html</anchorfile>
      <anchor>a7fdc6cc8109757b7e3789af5a38ad445</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::GeometryPoolPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>GeometryPool::Base</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>af55a221c3eff8da66f2c7a24041ea5f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GeometryPool::GeometryData</type>
      <name>GeometryData</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>adeac7936b03e9f9cc3ba42163d9b6a8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GeometryPool::GeometryDataVector</type>
      <name>GeometryDataVector</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>ab1b31a481d9283b7af753f1118bf2679</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GeometryPool::GeometryModel</type>
      <name>GeometryModel</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>a9117e109dc1b095ec1ee61f852053dae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GeometryPool::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>ac80fc68cd1569881749e8125eec81a4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>a3e8c9006847c5e8ff744f6d1f8a122ed</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1GeometryPoolPythonVisitor.html</anchorfile>
      <anchor>ad3cf1e4f2587005007b238959ba4befe</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::GeometryPoolTpl</name>
    <filename>classpinocchio_1_1GeometryPoolTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>pinocchio::ModelPoolTpl</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a6902834d08615215e1b8f063459bbbd4ac4dc3e019e1875f179ac9612e05f1e66</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Data</type>
      <name>Data</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a630146adc6ba16b377c948bcd0c83c09</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::DataVector</type>
      <name>DataVector</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>af7e5143c6c8ca5cd5a54b6662b80fa4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::pinocchio::GeometryData</type>
      <name>GeometryData</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>abea7687e1fd4031c3b6109b234e446e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; GeometryData, Eigen::aligned_allocator&lt; GeometryData &gt; &gt;</type>
      <name>GeometryDataVector</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a53398dead887e3fec2116923c52cf25d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::pinocchio::GeometryModel</type>
      <name>GeometryModel</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a96639c0307578445a0ec5756b324d686</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; GeometryModel, Eigen::aligned_allocator&lt; GeometryModel &gt; &gt;</type>
      <name>GeometryModelVector</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a056caa4f246f7d72287422e7402b31b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Base::Model</type>
      <name>Model</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a027a3be3c50c35743994e63661194762</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a6902834d08615215e1b8f063459bbbd4ac4dc3e019e1875f179ac9612e05f1e66</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a08a58b068fd276a0120b46d4a22488b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const GeometryData &amp;</type>
      <name>geometry_data</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a7275c53a70a877c342d2adfdb139e974</anchor>
      <arglist>(const size_t index) const</arglist>
    </member>
    <member kind="function">
      <type>GeometryData &amp;</type>
      <name>geometry_data</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a7125f9a682e50aba78c01227ca41fe7a</anchor>
      <arglist>(const size_t index)</arglist>
    </member>
    <member kind="function">
      <type>const GeometryDataVector &amp;</type>
      <name>geometry_datas</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a53e10e1efa5931af5753f1db3077821d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>GeometryDataVector &amp;</type>
      <name>geometry_datas</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>aeb105fb0c92d1fc250f993a1568e3a3b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const GeometryModel &amp;</type>
      <name>geometry_model</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a97f5ca804537ba1709f9902f75791cee</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>geometry_model</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a4ac13224fd85c2b1f280404eb4b0d2dc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GeometryPoolTpl</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a37d3a8fecfe98af3c7d712f51782a100</anchor>
      <arglist>(const Model &amp;model, const GeometryModel &amp;geometry_model, const int pool_size=omp_get_max_threads())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GeometryPoolTpl</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a124a2737bad872d91bc27d955a6fa24f</anchor>
      <arglist>(const GeometryPoolTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a929fdf377ea8798fcda1be306a95d1df</anchor>
      <arglist>(const GeometryData &amp;geometry_data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>ae890f89aec850365b2ac22649ded3567</anchor>
      <arglist>(const GeometryModel &amp;geometry_model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a9013580e7f45772c7b9a0b3b8532102c</anchor>
      <arglist>(const GeometryModel &amp;geometry_model, const GeometryData &amp;geometry_data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GeometryPoolTpl</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a8b35941c9f35a48b33f772869edd5cb3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ModelPoolTpl&lt; _Scalar, _Options, JointCollectionTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>a80c3e07c40af612141de1f595dd4a0da</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>do_resize</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>ae913a559d2d10455957a35fd952041f3</anchor>
      <arglist>(const int new_size)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>GeometryDataVector</type>
      <name>m_geometry_datas</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>afa65e2c747ae49bddc3b86a9d5a82c04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>GeometryModel</type>
      <name>m_geometry_model</name>
      <anchorfile>classpinocchio_1_1GeometryPoolTpl.html</anchorfile>
      <anchor>ae6a2f3027ca34322afc8d289a200b77d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::gepetto_visualizer::GepettoVisualizer</name>
    <filename>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</filename>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a3558b3b93893aaf909c88f494402622d</anchor>
      <arglist>(self, q=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>acfb22abf7870548dc8810151365caa81</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayVisuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a8cf1c5177c4607c401686a8f1f7ff997</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getViewerNodeName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a0f471e5c801ac06021d5341193763d5e</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initViewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a5910ee1c2f4635fedadbe0047fe16548</anchor>
      <arglist>(self, viewer=None, windowName=&quot;python-pinocchio&quot;, sceneName=&quot;world&quot;, loadModel=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadPrimitive</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a58aca51ac6336a3c6bc83010be4456f6</anchor>
      <arglist>(self, meshName, geometry_object)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerGeometryObject</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a1ffebf1ac099da7e726a4bed8db4e15b</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerModel</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>ab0534961f2420dbf3ea766a60e973681</anchor>
      <arglist>(self, rootNodeName=&quot;pinocchio&quot;)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display_collisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a3188eae40447ee52f14734784875beb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display_visuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a54114fbef71ac11e0595b6c517abae7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sceneName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a5f5b3c41ca7287a85eadf7f9b3f38fc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>aee92435466ed04d275fe8632bd654943</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewerCollisionGroupName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a9f38ef89a3ceb7830e3245e070a212c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewerRootNodeName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a547a397dd91335307366e8c80eaf4cdf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewerVisualGroupName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a4a5c573619e3beb14ef7dc4e0cf54249</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>windowID</name>
      <anchorfile>classpinocchio_1_1visualize_1_1gepetto__visualizer_1_1GepettoVisualizer.html</anchorfile>
      <anchor>a02cac392bcd277e680753802e0e22c4d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>graph::Graph</name>
    <filename>classgraph_1_1Graph.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a148d63479eb6dbfe03853fca5a0c5655</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_edge</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a34c14ad4d8489ce95ec0517aecd0f350</anchor>
      <arglist>(self, first, second, orientation=0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_node</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>af7dc7d07a8fa05e6f93d49195aa06ada</anchor>
      <arglist>(self, q=None, new_connex=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>connexIndexes</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a75908697a1b8cbbee070c211c4fef5ae</anchor>
      <arglist>(self, connex)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>new_connex</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>ab47eef0cd744c6a511b0fbb4ceef6374</anchor>
      <arglist>(self, idx)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rename_connex</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>af746ed204bb30e1dfada998461a3cd8a</anchor>
      <arglist>(self, past, future)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>children</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a9789b66a7821c9d844564a2a094399e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>connex</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a0b81535c32d636bd84dc7aae40c5b23c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>existing_connex</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>af6d192eb11755b20454e618648da02e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nconnex</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a4450b4dde770da1914732bd29ffd889d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classgraph_1_1Graph.html</anchorfile>
      <anchor>a2b4de7a3a218f7274e6302493384d308</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::helper::handle_return_type_without_typename</name>
    <filename>structpinocchio_1_1helper_1_1handle__return__type__without__typename.html</filename>
    <templarg></templarg>
    <templarg>TypeAccess</templarg>
    <member kind="typedef">
      <type>TypeAccess&lt; typename argument_type&lt; void(D)&gt;::type &gt;::type</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1helper_1_1handle__return__type__without__typename.html</anchorfile>
      <anchor>a2dc320a2148f862ae83c17d641ff5c35</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataCompositeTpl_3_01Scalar_0bc80c74bf92e818a68b58872ed9ea48e.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataRevoluteUnboundedTpl_3_01bfe41f6e549f927f0c03e14e6020a7a7.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataRevoluteUnboundedUnaligne01b4538ad8788a9d077a054f0324709d.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointDataTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelCompositeTpl_3_01Scalar_eadee784e07bc93a4516964d2585fb38.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelPrismaticTpl_3_01Scalar_0a44478ab976dd66bddf474070c29cfa.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelRevoluteUnboundedTpl_3_013cf38ca21a8734fc87ce6ad43a09463.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelRevoluteUnboundedUnalign0a37603a37f7c5c234b34e92c90d3b79.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_constructor&lt; ::pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__constructor_3_01_1_1pinocchio_1_1JointModelTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataCompositeTpl_3_01Scalar_00_01Optd846906c282c288f6f0db5ae6a817190.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataRevoluteUnboundedTpl_3_01Scalar_2ee43e1300242215d4285b557736cfb3.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointDataTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Op3d8d32a2ada9b19c9d45ed6f627c0f5d.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelRevoluteUnboundedTpl_3_01Scalare68d2affac8a37ba08fdbb39b41733f9.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3e0f7254b95ebcec2a009889d0056c662.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>boost::has_nothrow_copy&lt; ::pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1has__nothrow__copy_3_01_1_1pinocchio_1_1JointModelTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::HectorLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1HectorLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HectorLoader.html</anchorfile>
      <anchor>affa9c952ace55021b3877ab70ef1499c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HectorLoader.html</anchorfile>
      <anchor>a686d3e73eb590b3a2fb3e1435daca7e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HectorLoader.html</anchorfile>
      <anchor>a9b2aa46a4f5f56f94ade87b8cad5be96</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::HyQLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1HyQLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HyQLoader.html</anchorfile>
      <anchor>a69758b1669a4e803220b7c0d774c5c93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HyQLoader.html</anchorfile>
      <anchor>a24e23f02c99fa6af4318665dc550f8e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HyQLoader.html</anchorfile>
      <anchor>ad8243337ffa72783c169fcdbe59fea03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HyQLoader.html</anchorfile>
      <anchor>a54ff4a5cc37ea2458003d4eaac50460c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1HyQLoader.html</anchorfile>
      <anchor>a27cb3c80c150fb4199703a718dc32e3f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::ICubLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1ICubLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ICubLoader.html</anchorfile>
      <anchor>a0e4f90ee9d5e40be18d10b6e64d78f74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ICubLoader.html</anchorfile>
      <anchor>a8265eb010f4b6956a375094b3e538369</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ICubLoader.html</anchorfile>
      <anchor>a16765efd651b2ca011d9338893dca149</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ICubLoader.html</anchorfile>
      <anchor>a2ad8edf4b0146a2c744d8bddb4fecc4a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::ICubReducedLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1ICubReducedLoader.html</filename>
    <base>example_robot_data::robots_loader::ICubLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1ICubReducedLoader.html</anchorfile>
      <anchor>af5ae6f466985d25df7ef240c7aebb6ef</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::if_then_else_impl</name>
    <filename>structpinocchio_1_1internal_1_1if__then__else__impl.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::if_then_else_impl&lt; condition_type, condition_type, ThenType, ElseType &gt;</name>
    <filename>structpinocchio_1_1internal_1_1if__then__else__impl_3_01condition__type_00_01condition__type_00_01ThenType_00_01ElseType_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>internal::traits&lt; if_then_else_impl &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_01condition__type_00_01condition__type_00_01ThenType_00_01ElseType_01_4.html</anchorfile>
      <anchor>aca71101582182c2d2019fbce1d9c59cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_01condition__type_00_01condition__type_00_01ThenType_00_01ElseType_01_4.html</anchorfile>
      <anchor>a07da88c67056403521f767273281b369</anchor>
      <arglist>(const ComparisonOperators op, const condition_type &amp;lhs_value, const condition_type &amp;rhs_value, const ThenType &amp;then_value, const ElseType &amp;else_value)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::if_then_else_impl&lt; CppAD::AD&lt; Scalar &gt;, CppAD::AD&lt; Scalar &gt;, ThenType, ElseType &gt;</name>
    <filename>structpinocchio_1_1internal_1_1if__then__else__impl_3_01CppAD_1_1AD_3_01Scalar_01_4_00_01CppAD_130589b286798c5c0da3e8a65858d1e33.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>internal::traits&lt; if_then_else_impl &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_01CppAD_1_1AD_3_01Scalar_01_4_00_01CppAD_130589b286798c5c0da3e8a65858d1e33.html</anchorfile>
      <anchor>a2bffb730401001d9828df2d2db35e460</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_01CppAD_1_1AD_3_01Scalar_01_4_00_01CppAD_130589b286798c5c0da3e8a65858d1e33.html</anchorfile>
      <anchor>a8305563003e152ba9326cfb1dcb9aa5e</anchor>
      <arglist>(const ComparisonOperators op, const CppAD::AD&lt; Scalar &gt; &amp;lhs_value, const CppAD::AD&lt; Scalar &gt; &amp;rhs_value, const ThenType &amp;then_value, const ElseType &amp;else_value)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::if_then_else_impl&lt;::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt;, ThenType, ElseType &gt;</name>
    <filename>structpinocchio_1_1internal_1_1if__then__else__impl_3_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_1_1d7291d94f197a51e7ee9bedaddbd205c.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; Scalar &gt;</type>
      <name>CasadiType</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_1_1d7291d94f197a51e7ee9bedaddbd205c.html</anchorfile>
      <anchor>a63323e0e64fd284664a1914eff7e6852</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>internal::traits&lt; if_then_else_impl &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_1_1d7291d94f197a51e7ee9bedaddbd205c.html</anchorfile>
      <anchor>a17a7bf85ece908206ea9a9444725ec1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1if__then__else__impl_3_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_1_1d7291d94f197a51e7ee9bedaddbd205c.html</anchorfile>
      <anchor>acfa216dc21c0d9b0536d4116c02e734e</anchor>
      <arglist>(const ComparisonOperators op, const CasadiType &amp;lhs_value, const CasadiType &amp;rhs_value, const ThenType &amp;then_value, const ElseType &amp;else_value)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::python::converter::implicit&lt; ::hpp::fcl::Transform3f,::pinocchio::SE3Tpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1hpp_1_1fcl_1_1Transform3f_00_1_1pinocchio0805c1acafdfa2a47f3bf74d6996083e.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>::hpp::fcl::Transform3f</type>
      <name>Source</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1hpp_1_1fcl_1_1Transform3f_00_1_1pinocchio0805c1acafdfa2a47f3bf74d6996083e.html</anchorfile>
      <anchor>aadbe7193c2f6e4f69e5a57fadf4e5f55</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::pinocchio::SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Target</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1hpp_1_1fcl_1_1Transform3f_00_1_1pinocchio0805c1acafdfa2a47f3bf74d6996083e.html</anchorfile>
      <anchor>a4b9ab31c69e6d62f70e853655ce2fa56</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>construct</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1hpp_1_1fcl_1_1Transform3f_00_1_1pinocchio0805c1acafdfa2a47f3bf74d6996083e.html</anchorfile>
      <anchor>adae2cba4ec819a232838086345e2d3dd</anchor>
      <arglist>(PyObject *obj, rvalue_from_python_stage1_data *data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void *</type>
      <name>convertible</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1hpp_1_1fcl_1_1Transform3f_00_1_1pinocchio0805c1acafdfa2a47f3bf74d6996083e.html</anchorfile>
      <anchor>a5d98d0ed442276bc2ef24f140a156022</anchor>
      <arglist>(PyObject *obj)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::python::converter::implicit&lt; ::pinocchio::SE3Tpl&lt; Scalar, Options &gt;,::hpp::fcl::Transform3f &gt;</name>
    <filename>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1pinocchio_1_1SE3Tpl_3_01Scalar_00_01Optio6229d03448713de1c9508aa6ddd7d7ed.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>::pinocchio::SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Source</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1pinocchio_1_1SE3Tpl_3_01Scalar_00_01Optio6229d03448713de1c9508aa6ddd7d7ed.html</anchorfile>
      <anchor>a5a027401bf1721a9e4bd2badea01b896</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::hpp::fcl::Transform3f</type>
      <name>Target</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1pinocchio_1_1SE3Tpl_3_01Scalar_00_01Optio6229d03448713de1c9508aa6ddd7d7ed.html</anchorfile>
      <anchor>ada6e3682a0e6925efecdfb7a1de3c6e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>construct</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1pinocchio_1_1SE3Tpl_3_01Scalar_00_01Optio6229d03448713de1c9508aa6ddd7d7ed.html</anchorfile>
      <anchor>a97d967e1007987271c6747bccf7936c7</anchor>
      <arglist>(PyObject *obj, rvalue_from_python_stage1_data *data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void *</type>
      <name>convertible</name>
      <anchorfile>structboost_1_1python_1_1converter_1_1implicit_3_01_1_1pinocchio_1_1SE3Tpl_3_01Scalar_00_01Optio6229d03448713de1c9508aa6ddd7d7ed.html</anchorfile>
      <anchor>aaf1ada2137e957b868f361e5703e1d0c</anchor>
      <arglist>(PyObject *obj)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::InertiaBase</name>
    <filename>classpinocchio_1_1InertiaBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2acc63f5d42f31838683603206f6bf6c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived_t &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aea74d444a8df898ced8ae04bd71f70c8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ae159aa375a4e8dc2b791eb205085bfca</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a64803c536b8e133567722f4d6c05df12</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a04d0e5a9c3cb09eb97f0fe79db638ffe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a85d39ef4eb1ee6f0e4652674b5d2d84b</anchor>
      <arglist>(const Derived &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a0df430a633564131ba480347236e125a</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>ivx</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ac8dae01b10d2d0fb207e847af3fd6828</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a85fc3111ff0bacbda9d7773030999da4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a9ad2536a882740278b671c63b3ef0fec</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1ee98c5be7b9fbf93c17453d9ffb5e74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa6a4ddaa5c5358a746813c85a34523ca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a4b89c56fb1cbee4b910552544a2bcd69</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2d70102088d7b2515e85ff6be886f907</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aea53ef74ecc6f136c26ebf13ac8f5f41</anchor>
      <arglist>(const Derived_t &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; typename traits&lt; MotionDerived &gt;::Scalar, traits&lt; MotionDerived &gt;::Options &gt;</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1b9516dd58b6647d5bb5e2f05601d454</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aba2cff556eb3aae15ed2664f9a0a4cf2</anchor>
      <arglist>(const Derived_t &amp;Yb) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>add584c184f6c0603fd548be0d9fe988d</anchor>
      <arglist>(const Derived_t &amp;Yb)</arglist>
    </member>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa9c725ddd6f2e1c877b4273f1a9c1c30</anchor>
      <arglist>(const Derived_t &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a05219c1a68467c8ac44c331ed475cf83</anchor>
      <arglist>(const Derived_t &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1ae681423bb0812cdd1fd93e17a418fb</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ad483139ad5a9a2eacfe8f442e0a2b46f</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a3d7d666ec76ffa65c287b31bf7b82ad9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a5a8824ffba3dace521cb234983ff13dd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a010959c3eea81fc38805d12606e090e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>variation</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1eaa0704028cfd1b643c3721c9670c05</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2da5e7761682925686b5dd0edc5bef46</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>vxi</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa22c6cee0acc9159e5446087d6b2d86e</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ivx</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aabbf3a92fcf39b39312709dc6a9a0ec9</anchor>
      <arglist>(const Motion &amp;v, const Derived &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxi</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a5cf245e75a727a9ae4cf8d99ba79ba85</anchor>
      <arglist>(const Motion &amp;v, const Derived &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>Derived</type>
      <name>Derived_t</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>add282d779b93422c8097ddf4488207ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>SPATIAL_TYPEDEF_TEMPLATE</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a9426ceb42238b2c81f02d0996bd0ecf4</anchor>
      <arglist>(Derived_t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aad72c0b82ef0f76d57577fdced72016b</anchor>
      <arglist>(std::ostream &amp;os, const InertiaBase&lt; Derived_t &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>InertiaBase&lt; InertiaTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1InertiaBase.html</filename>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2acc63f5d42f31838683603206f6bf6c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived_t &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aea74d444a8df898ced8ae04bd71f70c8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ae159aa375a4e8dc2b791eb205085bfca</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a64803c536b8e133567722f4d6c05df12</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a04d0e5a9c3cb09eb97f0fe79db638ffe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a85d39ef4eb1ee6f0e4652674b5d2d84b</anchor>
      <arglist>(const InertiaTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a0df430a633564131ba480347236e125a</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>ivx</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ac8dae01b10d2d0fb207e847af3fd6828</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a85fc3111ff0bacbda9d7773030999da4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a9ad2536a882740278b671c63b3ef0fec</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1ee98c5be7b9fbf93c17453d9ffb5e74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa6a4ddaa5c5358a746813c85a34523ca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a4b89c56fb1cbee4b910552544a2bcd69</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2d70102088d7b2515e85ff6be886f907</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aea53ef74ecc6f136c26ebf13ac8f5f41</anchor>
      <arglist>(const Derived_t &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; typename traits&lt; MotionDerived &gt;::Scalar, traits&lt; MotionDerived &gt;::Options &gt;</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1b9516dd58b6647d5bb5e2f05601d454</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aba2cff556eb3aae15ed2664f9a0a4cf2</anchor>
      <arglist>(const Derived_t &amp;Yb) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>add584c184f6c0603fd548be0d9fe988d</anchor>
      <arglist>(const Derived_t &amp;Yb)</arglist>
    </member>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa9c725ddd6f2e1c877b4273f1a9c1c30</anchor>
      <arglist>(const Derived_t &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a05219c1a68467c8ac44c331ed475cf83</anchor>
      <arglist>(const Derived_t &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1ae681423bb0812cdd1fd93e17a418fb</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ad483139ad5a9a2eacfe8f442e0a2b46f</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a3d7d666ec76ffa65c287b31bf7b82ad9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a5a8824ffba3dace521cb234983ff13dd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a010959c3eea81fc38805d12606e090e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>variation</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1eaa0704028cfd1b643c3721c9670c05</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2da5e7761682925686b5dd0edc5bef46</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>vxi</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa22c6cee0acc9159e5446087d6b2d86e</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ivx</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aabbf3a92fcf39b39312709dc6a9a0ec9</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl&lt; _Scalar, _Options &gt; &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxi</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a5cf245e75a727a9ae4cf8d99ba79ba85</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl&lt; _Scalar, _Options &gt; &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>InertiaTpl&lt; _Scalar, _Options &gt;</type>
      <name>Derived_t</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>add282d779b93422c8097ddf4488207ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>SPATIAL_TYPEDEF_TEMPLATE</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a9426ceb42238b2c81f02d0996bd0ecf4</anchor>
      <arglist>(Derived_t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aad72c0b82ef0f76d57577fdced72016b</anchor>
      <arglist>(std::ostream &amp;os, const InertiaBase&lt; Derived_t &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>InertiaBase&lt; InertiaTpl&lt; Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1InertiaBase.html</filename>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2acc63f5d42f31838683603206f6bf6c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived_t &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aea74d444a8df898ced8ae04bd71f70c8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ae159aa375a4e8dc2b791eb205085bfca</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a64803c536b8e133567722f4d6c05df12</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a04d0e5a9c3cb09eb97f0fe79db638ffe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a85d39ef4eb1ee6f0e4652674b5d2d84b</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a0df430a633564131ba480347236e125a</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>ivx</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ac8dae01b10d2d0fb207e847af3fd6828</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a85fc3111ff0bacbda9d7773030999da4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a9ad2536a882740278b671c63b3ef0fec</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1ee98c5be7b9fbf93c17453d9ffb5e74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa6a4ddaa5c5358a746813c85a34523ca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a4b89c56fb1cbee4b910552544a2bcd69</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2d70102088d7b2515e85ff6be886f907</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aea53ef74ecc6f136c26ebf13ac8f5f41</anchor>
      <arglist>(const Derived_t &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; typename traits&lt; MotionDerived &gt;::Scalar, traits&lt; MotionDerived &gt;::Options &gt;</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1b9516dd58b6647d5bb5e2f05601d454</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aba2cff556eb3aae15ed2664f9a0a4cf2</anchor>
      <arglist>(const Derived_t &amp;Yb) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>add584c184f6c0603fd548be0d9fe988d</anchor>
      <arglist>(const Derived_t &amp;Yb)</arglist>
    </member>
    <member kind="function">
      <type>Derived_t &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa9c725ddd6f2e1c877b4273f1a9c1c30</anchor>
      <arglist>(const Derived_t &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a05219c1a68467c8ac44c331ed475cf83</anchor>
      <arglist>(const Derived_t &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1ae681423bb0812cdd1fd93e17a418fb</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>Derived_t</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>ad483139ad5a9a2eacfe8f442e0a2b46f</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a3d7d666ec76ffa65c287b31bf7b82ad9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a5a8824ffba3dace521cb234983ff13dd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a010959c3eea81fc38805d12606e090e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>variation</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a1eaa0704028cfd1b643c3721c9670c05</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a2da5e7761682925686b5dd0edc5bef46</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>vxi</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aa22c6cee0acc9159e5446087d6b2d86e</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ivx</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aabbf3a92fcf39b39312709dc6a9a0ec9</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl&lt; Scalar, _Options &gt; &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxi</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a5cf245e75a727a9ae4cf8d99ba79ba85</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl&lt; Scalar, _Options &gt; &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>InertiaTpl&lt; Scalar, _Options &gt;</type>
      <name>Derived_t</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>add282d779b93422c8097ddf4488207ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>SPATIAL_TYPEDEF_TEMPLATE</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>a9426ceb42238b2c81f02d0996bd0ecf4</anchor>
      <arglist>(Derived_t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1InertiaBase.html</anchorfile>
      <anchor>aad72c0b82ef0f76d57577fdced72016b</anchor>
      <arglist>(std::ostream &amp;os, const InertiaBase&lt; Derived_t &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::InertiaPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</filename>
    <templarg></templarg>
    <class kind="struct">pinocchio::python::InertiaPythonVisitor::Pickle</class>
    <member kind="typedef">
      <type>Inertia::Matrix3</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a76a06aa123090edd9a09356023995504</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Inertia::Matrix6</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a9a3058389c35ca580ce1a3bf150ea4dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Inertia::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>ae952e485daf25f559913ec652d045d19</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Inertia::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>aff9e60500658bf1f0396ee61a256aad8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Inertia::Vector6</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a64341773077e65997d52221d0d4c8302</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a1eb6a2adbe9935db84b6fbae43b36da9</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a84ac7bf52bdb8127eb1fb252dbf0ad2d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Matrix3</type>
      <name>getInertia</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a2f0e8564c754e150f3830aac90b5640f</anchor>
      <arglist>(const Inertia &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>getMass</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>ac408b030d58a1023b854d91fe7ca1b37</anchor>
      <arglist>(const Inertia &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Inertia *</type>
      <name>makeFromMCI</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a64dca53a8cd5485de5fbfa34dd51a360</anchor>
      <arglist>(const double &amp;mass, const Vector3 &amp;lever, const Matrix3 &amp;inertia)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setInertia</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>af33093e88091ad455cf754cf24061793</anchor>
      <arglist>(Inertia &amp;self, const Matrix3 &amp;symmetric_inertia)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setLever</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a39b2503e8572f6480f10f36c46a66b47</anchor>
      <arglist>(Inertia &amp;self, const Vector3 &amp;lever)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setMass</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>a2cb6e05b63861deda4acdbb0303851d6</anchor>
      <arglist>(Inertia &amp;self, Scalar mass)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>toDynamicParameters_proxy</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor.html</anchorfile>
      <anchor>ab992410f75eb300d4d5643db6cdbf997</anchor>
      <arglist>(const Inertia &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::InertiaTpl</name>
    <filename>classpinocchio_1_1InertiaTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>InertiaBase&lt; InertiaTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a4af260f04fef259b7840681c54a7c65ead4842164e9550dca94419519bfad3134</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a4af260f04fef259b7840681c54a7c65ead4842164e9550dca94419519bfad3134</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; _Scalar, 10, 1, _Options &gt;</type>
      <name>Vector10</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a848e9738fb028e36f86f16509c688495</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl &amp;</type>
      <name>__equl__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a75dc47b828560f45a572e570f57f4317</anchor>
      <arglist>(const InertiaTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; typename traits&lt; MotionDerived &gt;::Scalar, traits&lt; MotionDerived &gt;::Options &gt;</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a03052df3169a3f9a45952d5a72c73ebd</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>abdcae2742d60ae8f6364688b94e4ad02</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a2a00f9fbc018b047b320ef708f8ce6a7</anchor>
      <arglist>(const InertiaTpl &amp;Yb)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ad07d9f23aeb081830dd3b252d3800d0a</anchor>
      <arglist>(const InertiaTpl &amp;Yb) const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ae4b9b4209221b9778e21230c75c6f570</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ae0c0d8deb846bd3c4f52515ffc98f395</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0653b300fe86615577cdf5caf1cb06f4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ab5fd6f6e780488f912b5d65fd9b844bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a38a017db7c85a8a3f20cab88763cee83</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a56e1af6cb453258953999b422fea4bb4</anchor>
      <arglist>(const Scalar mass, const Vector3 &amp;com, const Matrix3 &amp;rotational_inertia)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a40faa4724f0e897a149d108daf144b0b</anchor>
      <arglist>(const Matrix6 &amp;I6)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a9a4ecc215fd9948c16c3d701835f5a86</anchor>
      <arglist>(Scalar mass, const Vector3 &amp;com, const Symmetric3 &amp;rotational_inertia)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a54072c7615cc448623866469fb2f4a88</anchor>
      <arglist>(const InertiaTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac8a5df6716382be03ca01756ddbfffe2</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a4fe67721e119ef078573f0b2b25872d1</anchor>
      <arglist>(const InertiaTpl &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>afdc96ffc2debb2fe6ffe79c272c51bd6</anchor>
      <arglist>(const InertiaTpl &amp;Y2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a6b38fce7ac9cc77b34f91ceee3a55fd0</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a07cff35969bb76817ed12c6771ddd029</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>af9f622f303c2fd5b5aa37a08b74bdd13</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0c8e8b73c2ee8fd78e414e97c30750e8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a01d6589d7adb3a832fc8d272feafe876</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>matrix_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0c221ebc9d5aba061f4138579f2bf203</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a5b39fef365f8a73290dd71315bf8007f</anchor>
      <arglist>(const InertiaTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>aa7bee88993a77a61097ce0807b9f400a</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ab85a3b6351f17028055e237e0f588cab</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ab3bec169eb56491a98f1c6a9dba29cf1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a86d051eb3bb872c6feba5ad9ca589e0f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac21669dc6daaeb0c74b31553d82e9bbd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SPATIAL_TYPEDEF_TEMPLATE</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac0463753b6fda8aa9f0f3045bbd067cf</anchor>
      <arglist>(InertiaTpl)</arglist>
    </member>
    <member kind="function">
      <type>Vector10</type>
      <name>toDynamicParameters</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a06b266942e6314dcc06fbbd5afb929c1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>variation</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a65511751e529733426ac91e25c3ccefd</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>abeed2080d817281648fb8ad648f0f70c</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Force</type>
      <name>vxiv</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a9b91d46073d6c07037eac55ee2dd6ba6</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromBox</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>adacf5b492cdcb35ca0a176d249a023f8</anchor>
      <arglist>(const Scalar mass, const Scalar x, const Scalar y, const Scalar z)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromCylinder</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0ceac423198e8a0df9f7b59d34d39fb6</anchor>
      <arglist>(const Scalar mass, const Scalar radius, const Scalar length)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromDynamicParameters</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a1643ee1b01442d19af81e7534f016cdf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector10Like &gt; &amp;params)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromEllipsoid</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ad70b313d96513ae252d959eee37c5ddd</anchor>
      <arglist>(const Scalar mass, const Scalar x, const Scalar y, const Scalar z)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromSphere</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a8295311f11f23b85ded9ecdf9e8bc44c</anchor>
      <arglist>(const Scalar mass, const Scalar radius)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>Identity</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>af215df728eadcfac568168ed25380b6b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ivx_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a371bdf8faa3380ea34b381fe6771d358</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ae1b54adbdf03778c005ca4f9626231ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxi_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ad9e92af6fb8269a1585f92327d27ca26</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a290fcca24a256648c1390a48a29505a4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Symmetric3::AlphaSkewSquare</type>
      <name>AlphaSkewSquare</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a01a5e226b6935569128e0090bc88cbd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_com</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a7a40ea46b0ddb95ce6b6423b2e53ce98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Symmetric3</type>
      <name>m_inertia</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a84d014cdff99fbdac39dc51cdd9f043b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_mass</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac3d96e6d69982208d2cd447959a20c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>InertiaBase&lt; InertiaTpl&lt; _Scalar, _Options &gt; &gt;</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>afcdb5d249f9f76d32773b524dc1c3438</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>InertiaTpl&lt; Scalar, Options &gt;</name>
    <filename>classpinocchio_1_1InertiaTpl.html</filename>
    <base>InertiaBase&lt; InertiaTpl&lt; Scalar, _Options &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a4af260f04fef259b7840681c54a7c65ead4842164e9550dca94419519bfad3134</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 10, 1, _Options &gt;</type>
      <name>Vector10</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a848e9738fb028e36f86f16509c688495</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl &amp;</type>
      <name>__equl__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a75dc47b828560f45a572e570f57f4317</anchor>
      <arglist>(const InertiaTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; typename traits&lt; MotionDerived &gt;::Scalar, traits&lt; MotionDerived &gt;::Options &gt;</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a03052df3169a3f9a45952d5a72c73ebd</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>abdcae2742d60ae8f6364688b94e4ad02</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a2a00f9fbc018b047b320ef708f8ce6a7</anchor>
      <arglist>(const InertiaTpl &amp;Yb)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ad07d9f23aeb081830dd3b252d3800d0a</anchor>
      <arglist>(const InertiaTpl &amp;Yb) const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ae4b9b4209221b9778e21230c75c6f570</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ae0c0d8deb846bd3c4f52515ffc98f395</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0653b300fe86615577cdf5caf1cb06f4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3 &amp;</type>
      <name>inertia</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ab5fd6f6e780488f912b5d65fd9b844bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a38a017db7c85a8a3f20cab88763cee83</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a56e1af6cb453258953999b422fea4bb4</anchor>
      <arglist>(const Scalar mass, const Vector3 &amp;com, const Matrix3 &amp;rotational_inertia)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a40faa4724f0e897a149d108daf144b0b</anchor>
      <arglist>(const Matrix6 &amp;I6)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a9a4ecc215fd9948c16c3d701835f5a86</anchor>
      <arglist>(Scalar mass, const Vector3 &amp;com, const Symmetric3 &amp;rotational_inertia)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a54072c7615cc448623866469fb2f4a88</anchor>
      <arglist>(const InertiaTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InertiaTpl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac8a5df6716382be03ca01756ddbfffe2</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a4fe67721e119ef078573f0b2b25872d1</anchor>
      <arglist>(const InertiaTpl &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>afdc96ffc2debb2fe6ffe79c272c51bd6</anchor>
      <arglist>(const InertiaTpl &amp;Y2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a6b38fce7ac9cc77b34f91ceee3a55fd0</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a07cff35969bb76817ed12c6771ddd029</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>lever</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>af9f622f303c2fd5b5aa37a08b74bdd13</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0c8e8b73c2ee8fd78e414e97c30750e8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a01d6589d7adb3a832fc8d272feafe876</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>matrix_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0c221ebc9d5aba061f4138579f2bf203</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a5b39fef365f8a73290dd71315bf8007f</anchor>
      <arglist>(const InertiaTpl &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>aa7bee88993a77a61097ce0807b9f400a</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ab85a3b6351f17028055e237e0f588cab</anchor>
      <arglist>(const SE3 &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ab3bec169eb56491a98f1c6a9dba29cf1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a86d051eb3bb872c6feba5ad9ca589e0f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac21669dc6daaeb0c74b31553d82e9bbd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SPATIAL_TYPEDEF_TEMPLATE</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac0463753b6fda8aa9f0f3045bbd067cf</anchor>
      <arglist>(InertiaTpl)</arglist>
    </member>
    <member kind="function">
      <type>Vector10</type>
      <name>toDynamicParameters</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a06b266942e6314dcc06fbbd5afb929c1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Matrix6</type>
      <name>variation</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a65511751e529733426ac91e25c3ccefd</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>abeed2080d817281648fb8ad648f0f70c</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Force</type>
      <name>vxiv</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a9b91d46073d6c07037eac55ee2dd6ba6</anchor>
      <arglist>(const Motion &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromBox</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>adacf5b492cdcb35ca0a176d249a023f8</anchor>
      <arglist>(const Scalar mass, const Scalar x, const Scalar y, const Scalar z)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromCylinder</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a0ceac423198e8a0df9f7b59d34d39fb6</anchor>
      <arglist>(const Scalar mass, const Scalar radius, const Scalar length)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromDynamicParameters</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a1643ee1b01442d19af81e7534f016cdf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector10Like &gt; &amp;params)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromEllipsoid</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ad70b313d96513ae252d959eee37c5ddd</anchor>
      <arglist>(const Scalar mass, const Scalar x, const Scalar y, const Scalar z)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>FromSphere</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a8295311f11f23b85ded9ecdf9e8bc44c</anchor>
      <arglist>(const Scalar mass, const Scalar radius)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>Identity</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>af215df728eadcfac568168ed25380b6b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ivx_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a371bdf8faa3380ea34b381fe6771d358</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ae1b54adbdf03778c005ca4f9626231ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxi_impl</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ad9e92af6fb8269a1585f92327d27ca26</anchor>
      <arglist>(const Motion &amp;v, const InertiaTpl &amp;I, const Eigen::MatrixBase&lt; M6 &gt; &amp;Iout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static InertiaTpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a290fcca24a256648c1390a48a29505a4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Symmetric3::AlphaSkewSquare</type>
      <name>AlphaSkewSquare</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a01a5e226b6935569128e0090bc88cbd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_com</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a7a40ea46b0ddb95ce6b6423b2e53ce98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Symmetric3</type>
      <name>m_inertia</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>a84d014cdff99fbdac39dc51cdd9f043b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_mass</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>ac3d96e6d69982208d2cd447959a20c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>InertiaBase&lt; InertiaTpl&lt; _Scalar, _Options &gt; &gt;</name>
      <anchorfile>classpinocchio_1_1InertiaTpl.html</anchorfile>
      <anchor>afcdb5d249f9f76d32773b524dc1c3438</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init</name>
    <filename>structinit.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>aacfb9c9264c584e5264d2b0a35ff097a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a4a9c0b143d1e83c31c760eae2c0c027b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a4a9c0b143d1e83c31c760eae2c0c027b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a4a9c0b143d1e83c31c760eae2c0c027b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a4a9c0b143d1e83c31c760eae2c0c027b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a2951c43698692a3431d6f2589935ac94</anchor>
      <arglist>(const pinocchio::Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a4a9c0b143d1e83c31c760eae2c0c027b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel_</type>
      <name>run</name>
      <anchorfile>structinit.html</anchorfile>
      <anchor>a4a9c0b143d1e83c31c760eae2c0c027b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init&lt; pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &gt;</name>
    <filename>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollection</templarg>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a8cd9538a9b1f4002996ea6aaf2abfe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a66ab025414a0f213d247e2552911dda7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a7f627f1b12fd7aad2b0a4e0387b6d88c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a7f627f1b12fd7aad2b0a4e0387b6d88c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a7f627f1b12fd7aad2b0a4e0387b6d88c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a7f627f1b12fd7aad2b0a4e0387b6d88c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a52d832f29846d0a45c48d63a6c22db59</anchor>
      <arglist>(const pinocchio::Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a7f627f1b12fd7aad2b0a4e0387b6d88c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a7f627f1b12fd7aad2b0a4e0387b6d88c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init&lt; pinocchio::JointModelMimic&lt; JointModel_ &gt; &gt;</name>
    <filename>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelMimic&lt; JointModel_ &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a8ed23055693d25481b2eec4100f78607</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>aa4ebae727788692957991993f931a2d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a635f6a96d9e54671befa618fea60fa48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a635f6a96d9e54671befa618fea60fa48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a635f6a96d9e54671befa618fea60fa48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a635f6a96d9e54671befa618fea60fa48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a3dbc493329aae9ba321a8e333cab84ef</anchor>
      <arglist>(const pinocchio::Model &amp;model)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a635f6a96d9e54671befa618fea60fa48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelMimic_3_01JointModel___01_4_01_4.html</anchorfile>
      <anchor>a635f6a96d9e54671befa618fea60fa48</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init&lt; pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa63b37396587911033709fbb37259015</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a7799550263482a8dd939db2caaa7be0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae7da772cc6e94d5a1ce678f6b983b1fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae7da772cc6e94d5a1ce678f6b983b1fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae7da772cc6e94d5a1ce678f6b983b1fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae7da772cc6e94d5a1ce678f6b983b1fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aee95d707a50b10ed61bea4c99576de36</anchor>
      <arglist>(const pinocchio::Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae7da772cc6e94d5a1ce678f6b983b1fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae7da772cc6e94d5a1ce678f6b983b1fd</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init&lt; pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a28e05136a4d68da9a8eed13496f24934</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ae12e3ce3656f125f8f11d8524db544be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3f538b1eaad4c9e8e6a5bb5c682f7955</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3f538b1eaad4c9e8e6a5bb5c682f7955</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3f538b1eaad4c9e8e6a5bb5c682f7955</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3f538b1eaad4c9e8e6a5bb5c682f7955</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a175b1d57d7d12fc14dc2c0fb079e3ada</anchor>
      <arglist>(const pinocchio::Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3f538b1eaad4c9e8e6a5bb5c682f7955</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3f538b1eaad4c9e8e6a5bb5c682f7955</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init&lt; pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8e52f9f0807eafedcb32a855b0ccc7a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ad18ad94e6aec6352d91be0968713a549</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a00dd7341275fa96f5e2e5941dadba463</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a00dd7341275fa96f5e2e5941dadba463</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a00dd7341275fa96f5e2e5941dadba463</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a00dd7341275fa96f5e2e5941dadba463</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa1417f7402f10f162779c04336d1e41c</anchor>
      <arglist>(const pinocchio::Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a00dd7341275fa96f5e2e5941dadba463</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a00dd7341275fa96f5e2e5941dadba463</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>init&lt; pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &gt;</name>
    <filename>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollection</templarg>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt;</type>
      <name>JointModel</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a09ee530f90d1257d400e47c755b95339</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>a000f1eae0a13a4e5d7c907aa379d0841</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>acba3782c8eca47cfc588a25274a3a28a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>acba3782c8eca47cfc588a25274a3a28a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>acba3782c8eca47cfc588a25274a3a28a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>acba3782c8eca47cfc588a25274a3a28a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>abdfa4b3af28d8946205bf3166d0ec903</anchor>
      <arglist>(const pinocchio::Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>acba3782c8eca47cfc588a25274a3a28a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModel</type>
      <name>run</name>
      <anchorfile>structinit_3_01pinocchio_1_1JointModelTpl_3_01Scalar_00_01Options_00_01JointCollection_01_4_01_4.html</anchorfile>
      <anchor>acba3782c8eca47cfc588a25274a3a28a</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModel</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModel</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>aefe59114585380af1f3c262779348fbe</anchor>
      <arglist>(ArgType args)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>a01d9e404297e3a3c5588a3553afc59e7</anchor>
      <arglist>(const JointModelBase&lt; JointModel1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModel2 &gt; &amp;jmodel2) const</arglist>
    </member>
    <member kind="variable">
      <type>ArgType</type>
      <name>args</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>ae5d391d3ddb8d6e0528fe4e8b18c0ade</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModel</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModel</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>a4eb379af6a8464fe9f571ec0423a5fe0</anchor>
      <arglist>(ArgType args)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>a85ffd006c709ec8b847693b530eff172</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel) const</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>a49fd9bcd0fb6f3825da43e637d5af693</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata) const</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>ac24cf6171c789db0d043c8e5f060d150</anchor>
      <arglist>(const JointModelVoid)</arglist>
    </member>
    <member kind="variable">
      <type>ArgType</type>
      <name>args</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel.html</anchorfile>
      <anchor>af4c213a3e0b6c815ebc4940c9df1bc89</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModel&lt; NoArg, Dummy &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModel</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</anchorfile>
      <anchor>aa48209dc7e20d1d3809aac96f7772d67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</anchorfile>
      <anchor>a556ad3fa26c83a93f9009fdee00113b2</anchor>
      <arglist>(const JointModelBase&lt; JointModel1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModel2 &gt; &amp;jmodel2) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModel&lt; NoArg, Dummy &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModel</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</anchorfile>
      <anchor>ae1cc88e884d0c353a97f5c2f44d7d7e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</anchorfile>
      <anchor>a6775aca3326b6acc939d82f506aae995</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel) const</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModel_3_01NoArg_00_01Dummy_01_4.html</anchorfile>
      <anchor>a3639d849042113140fc042125c258812</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModelAndData</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointModel1::JointDataDerived</type>
      <name>JointData1</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a6d58de8d50b3ed495a0b11f8c93e7ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModel2::JointDataDerived</type>
      <name>JointData2</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a6c4a545c468be136211a3c7eaa57f034</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModelAndData</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a3a3c93f1cacc136cddd2cfeef03d3eb8</anchor>
      <arglist>(JointData1 &amp;jdata1, JointData2 &amp;jdata2, ArgType args)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a51856700120bda4660eadec278601971</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2) const</arglist>
    </member>
    <member kind="variable">
      <type>ArgType</type>
      <name>args</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a2889844175ba6cf0661d3d60e6503a8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointData1 &amp;</type>
      <name>jdata1</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>ab9fe384769c07bb913eeb13d634a168e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointData2 &amp;</type>
      <name>jdata2</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a96e63ab6cffc67e9dc8273c875a2d690</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModelAndData</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointModel::JointDataDerived</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a09372bae7f10c2d97fd07f2ed2776280</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModelAndData</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a36a6ce95644704ed3c3ee3ec4f0bcc83</anchor>
      <arglist>(JointData &amp;jdata, ArgType args)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>ac5d849751f33a288eeeba6d0e8ef9356</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel) const</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a7b80b39847922b9dae1d73881a3b267f</anchor>
      <arglist>(const JointModelVoid)</arglist>
    </member>
    <member kind="variable">
      <type>ArgType</type>
      <name>args</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>ac193654e7a101ab821333caead48f25c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointData &amp;</type>
      <name>jdata</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData.html</anchorfile>
      <anchor>a318d76f888697dcf1220b39ece803920</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModelAndData&lt; JointModel, NoArg &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointModel_00_01NoArg_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointModel::JointDataDerived</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointModel_00_01NoArg_01_4.html</anchorfile>
      <anchor>abf9b49d0e39762e49d993aa550df7623</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModelAndData</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointModel_00_01NoArg_01_4.html</anchorfile>
      <anchor>ac7039b32da92a75d332cadb5fd75a088</anchor>
      <arglist>(JointData &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointModel_00_01NoArg_01_4.html</anchorfile>
      <anchor>ae2086a43c1278e9e2b880bcbcfca21b7</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel) const</arglist>
    </member>
    <member kind="variable">
      <type>JointData &amp;</type>
      <name>jdata</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointModel_00_01NoArg_01_4.html</anchorfile>
      <anchor>a2e0ac38181683053d55cbb16fafb1415</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModelAndData&lt; JointModel1, JointModel2, NoArg &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointModel1::JointDataDerived</type>
      <name>JointData1</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</anchorfile>
      <anchor>ad9c42326e8b01aefadd72568260b5f6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModel2::JointDataDerived</type>
      <name>JointData2</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</anchorfile>
      <anchor>abc50d45eab9db4cb4f60d4575cb99e82</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InternalVisitorModelAndData</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</anchorfile>
      <anchor>a161539af4335924d7f28677bf07b6805</anchor>
      <arglist>(JointData1 &amp;jdata1, JointData2 &amp;jdata2)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</anchorfile>
      <anchor>ace9b2ebd99909151ab00b63f3c24ee56</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2) const</arglist>
    </member>
    <member kind="variable">
      <type>JointData1 &amp;</type>
      <name>jdata1</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</anchorfile>
      <anchor>a5b7989f2832f2336b20fa2e2efae9e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointData2 &amp;</type>
      <name>jdata2</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase_1_1InternalVisitorModelAndData_3_01JointMode2caf115fa01170c9bbde129f735f7879.html</anchorfile>
      <anchor>aa46ed06e54c611c5477e98128384bc9e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::IrisLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1IrisLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1IrisLoader.html</anchorfile>
      <anchor>ad1f72eb9a2b53afb00e8da7e7d6d98f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1IrisLoader.html</anchorfile>
      <anchor>a33fd885e5aef22515a8d2d3ac245d93c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1IrisLoader.html</anchorfile>
      <anchor>a14c8aa898e3082ffc78bdb017426dc7d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::is_floating_point</name>
    <filename>structpinocchio_1_1is__floating__point.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::is_floating_point&lt; boost::multiprecision::number&lt; Backend, ET &gt; &gt;</name>
    <filename>structpinocchio_1_1is__floating__point_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ET_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>ET</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::is_same_type</name>
    <filename>structpinocchio_1_1internal_1_1is__same__type.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="variable" static="yes">
      <type>static const bool</type>
      <name>value</name>
      <anchorfile>structpinocchio_1_1internal_1_1is__same__type.html</anchorfile>
      <anchor>a96719ba6a6a2db476132e8d356659b32</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::is_same_type&lt; T, T &gt;</name>
    <filename>structpinocchio_1_1internal_1_1is__same__type_3_01T_00_01T_01_4.html</filename>
    <templarg></templarg>
    <member kind="variable" static="yes">
      <type>static const bool</type>
      <name>value</name>
      <anchorfile>structpinocchio_1_1internal_1_1is__same__type_3_01T_00_01T_01_4.html</anchorfile>
      <anchor>adbdf3f8c81d7f88b19c48c6bd06a9f4f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::isNormalizedAlgo</name>
    <filename>structpinocchio_1_1internal_1_1isNormalizedAlgo.html</filename>
    <templarg></templarg>
    <templarg>value</templarg>
    <member kind="typedef">
      <type>VectorLike::RealScalar</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isNormalizedAlgo.html</anchorfile>
      <anchor>a3c565c5834ea46cfad880ada98d76964</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorLike::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isNormalizedAlgo.html</anchorfile>
      <anchor>a3c00b84faddb606ed01105a14d00e1d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1isNormalizedAlgo.html</anchorfile>
      <anchor>a857ca69ea39496d27474e34d8d2ac910</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vec, const RealScalar &amp;prec=Eigen::NumTraits&lt; RealScalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::isNormalizedAlgo&lt; VectorLike, false &gt;</name>
    <filename>structpinocchio_1_1internal_1_1isNormalizedAlgo_3_01VectorLike_00_01false_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>VectorLike::RealScalar</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isNormalizedAlgo_3_01VectorLike_00_01false_01_4.html</anchorfile>
      <anchor>a86bd64b2472ee7e898f761af8adf60d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorLike::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isNormalizedAlgo_3_01VectorLike_00_01false_01_4.html</anchorfile>
      <anchor>a7329508e9fac28343e47d4d96ef1689e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1isNormalizedAlgo_3_01VectorLike_00_01false_01_4.html</anchorfile>
      <anchor>aa6f0b728cb432e784eaff03a1739a369</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;, const RealScalar &amp;prec=Eigen::NumTraits&lt; RealScalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::isUnitaryAlgo</name>
    <filename>structpinocchio_1_1internal_1_1isUnitaryAlgo.html</filename>
    <templarg></templarg>
    <templarg>value</templarg>
    <member kind="typedef">
      <type>MatrixLike::RealScalar</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isUnitaryAlgo.html</anchorfile>
      <anchor>a237da2559a78503ababeeec12636e493</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MatrixLike::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isUnitaryAlgo.html</anchorfile>
      <anchor>a8b0cb0740488b6df571d2f1f183e0630</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1isUnitaryAlgo.html</anchorfile>
      <anchor>aea00d085e746c8c6ec1a4e9a8d2f21d4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;mat, const RealScalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::isUnitaryAlgo&lt; MatrixLike, false &gt;</name>
    <filename>structpinocchio_1_1internal_1_1isUnitaryAlgo_3_01MatrixLike_00_01false_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>MatrixLike::RealScalar</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isUnitaryAlgo_3_01MatrixLike_00_01false_01_4.html</anchorfile>
      <anchor>ad8cdc6102f67a93ff818e6c76266859c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MatrixLike::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isUnitaryAlgo_3_01MatrixLike_00_01false_01_4.html</anchorfile>
      <anchor>a86c22bf3de28c11ee19e5255220b2b8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1isUnitaryAlgo_3_01MatrixLike_00_01false_01_4.html</anchorfile>
      <anchor>a1b98562569a8679f38078ad3fb83489a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;, const RealScalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::isZeroAlgo</name>
    <filename>structpinocchio_1_1internal_1_1isZeroAlgo.html</filename>
    <templarg></templarg>
    <templarg>value</templarg>
    <member kind="typedef">
      <type>MatrixLike::RealScalar</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isZeroAlgo.html</anchorfile>
      <anchor>accdf848bc88cb014ef88b2d5e30194f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MatrixLike::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isZeroAlgo.html</anchorfile>
      <anchor>a329c4b655ab896a63cff4727b76b1756</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1isZeroAlgo.html</anchorfile>
      <anchor>a88baa0a4e3367dc6d5e60a5bf0c80e01</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;mat, const RealScalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::isZeroAlgo&lt; MatrixLike, false &gt;</name>
    <filename>structpinocchio_1_1internal_1_1isZeroAlgo_3_01MatrixLike_00_01false_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>MatrixLike::RealScalar</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isZeroAlgo_3_01MatrixLike_00_01false_01_4.html</anchorfile>
      <anchor>a943a9a2c590c6eb773763cef3814da35</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MatrixLike::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1isZeroAlgo_3_01MatrixLike_00_01false_01_4.html</anchorfile>
      <anchor>a0cf6a540d2cc21eab77f2aa27b9a8752</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1isZeroAlgo_3_01MatrixLike_00_01false_01_4.html</anchorfile>
      <anchor>add044bc1ef991f756dadea835ae80c88</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;, const RealScalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Jlog3_impl</name>
    <filename>structpinocchio_1_1Jlog3__impl.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Jlog6_impl</name>
    <filename>structpinocchio_1_1Jlog6__impl.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointBinaryVisitorBase</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <templarg>JointVisitorDerived</templarg>
    <templarg>ReturnType</templarg>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModel</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModel&lt; NoArg, Dummy &gt;</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModelAndData</class>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase::InternalVisitorModelAndData&lt; JointModel1, JointModel2, NoArg &gt;</class>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointBinaryVisitorBase&lt; EmptyForwardStepBinaryVisit&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointBinaryVisitorBase&lt; EmptyForwardStepBinaryVisitNoData&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointBinaryVisitorBase&lt; SimpleBinaryVisitor1 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointBinaryVisitorBase&lt; SimpleBinaryVisitor2 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointBinaryVisitorBase&lt; SimpleBinaryVisitor3 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointBinaryVisitorBase&lt; SimpleBinaryVisitor4 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a54ce9980c2d2d4397d67f7b0a33644d0</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a30e80d501cb89e821c0324e6e7888186</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a80cdf08f66e2b98e353219a162a6c55e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, typename JointModelBase&lt; JointModelDerived1 &gt;::JointDataDerived &amp;jdata1, typename JointModelBase&lt; JointModelDerived2 &gt;::JointDataDerived &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a1d0128218906a659c5dd6d7e95570c3d</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata1, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a95def069363c5236bcc096913fe26d35</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a0131fda717d0cc787298c5df60fffe63</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>a6371f0b01a8b197444b6e0fecc6839d6</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived1 &gt; &amp;jmodel1, const JointModelBase&lt; JointModelDerived2 &gt; &amp;jmodel2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointBinaryVisitorBase.html</anchorfile>
      <anchor>af4161ea8a396ac616f6cb18ef4d22e0b</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel1, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointCollectionDefaultTpl</name>
    <filename>structpinocchio_1_1JointCollectionDefaultTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a730314df2da505b5c8f44a6f57de66c0a63a57311b3e6ee8285ef33cbf856ba26</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataCompositeTpl&lt; Scalar, Options,::pinocchio::JointCollectionDefaultTpl &gt;</type>
      <name>JointDataComposite</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a03c469631facd82af68537e17b5f5c51</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataFreeFlyerTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataFreeFlyer</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a6fdf198d8052a5ebc6be2ab4ebe79154</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataMimic&lt; JointDataRX &gt;</type>
      <name>JointDataMimicRX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>add429b163bb98ecd223f7580554632b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataMimic&lt; JointDataRY &gt;</type>
      <name>JointDataMimicRY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a5f4ec0982fae2da9d0b9118c931ab55d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataMimic&lt; JointDataRZ &gt;</type>
      <name>JointDataMimicRZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a11668c2b9b942bb6980443b8abf802fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataPlanar</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a40870e0932c2b6302eded97739bbfb7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataPrismaticUnaligned</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>afba1ffa9fc1519d7bd8eb521252251ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; Scalar, Options, 0 &gt;</type>
      <name>JointDataPX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a3ccc2abe742faf3cc50352b674b72fc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; Scalar, Options, 1 &gt;</type>
      <name>JointDataPY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a8755a621a234ef8884ce05772606708d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; Scalar, Options, 2 &gt;</type>
      <name>JointDataPZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a3472e18383f7a2d03c0263ddfe5e90f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataRevoluteUnaligned</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a96a9abde39b56ed9f696232ec1f01dbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataRevoluteUnboundedUnaligned</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ac996de2e517a44a28c5613daf3f7b056</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; Scalar, Options, 0 &gt;</type>
      <name>JointDataRUBX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a7fbddf391e475068f609862693e679d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; Scalar, Options, 1 &gt;</type>
      <name>JointDataRUBY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ab00ee273dfa7223b798e461deab9f6b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; Scalar, Options, 2 &gt;</type>
      <name>JointDataRUBZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a428857a40b58dec248b0adccea09cd9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; Scalar, Options, 0 &gt;</type>
      <name>JointDataRX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a070971b0f1687e6c9a7cd38c81eca6b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; Scalar, Options, 1 &gt;</type>
      <name>JointDataRY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a869fe73a9eb8ac0b67d9d3345340e3c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; Scalar, Options, 2 &gt;</type>
      <name>JointDataRZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ab8e80c6234b7d06062b6026351fed84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataSpherical</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a882322cdf99b7ab26a23160cbd4b1231</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataSphericalZYX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a7bb6f69d3962de9abb8662088dd981fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataTranslation</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a2acb4831def19320fe3bfe595343bf70</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variant&lt; JointDataRX, JointDataRY, JointDataRZ, JointDataMimicRX, JointDataMimicRY, JointDataMimicRZ, JointDataFreeFlyer, JointDataPlanar, JointDataRevoluteUnaligned, JointDataSpherical, JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataTranslation, JointDataRUBX, JointDataRUBY, JointDataRUBZ, JointDataRevoluteUnboundedUnaligned, boost::recursive_wrapper&lt; JointDataComposite &gt; &gt;</type>
      <name>JointDataVariant</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a689317b36f70553531fdfb09c8009063</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelCompositeTpl&lt; Scalar, Options,::pinocchio::JointCollectionDefaultTpl &gt;</type>
      <name>JointModelComposite</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a9f5f8eb034900287bec33b3b057271b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelFreeFlyerTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelFreeFlyer</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ab17834b62ae5799731442ebb1486ec54</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelMimic&lt; JointModelRX &gt;</type>
      <name>JointModelMimicRX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>aaccf52f49dd4851417ed9bccf49d1b95</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelMimic&lt; JointModelRY &gt;</type>
      <name>JointModelMimicRY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a74df96be1e94e060124ad61d73533007</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelMimic&lt; JointModelRZ &gt;</type>
      <name>JointModelMimicRZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a31c3e2d52dde3808a330e5e3f7493aef</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelPlanar</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>aa8375c32dc3f9530b5c72ce6c7b28d5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelPrismaticUnaligned</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a180cad935f8a955887ca4db33ba9e947</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; Scalar, Options, 0 &gt;</type>
      <name>JointModelPX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a1f0ca3c22541efeb4e24a49ec203f70d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; Scalar, Options, 1 &gt;</type>
      <name>JointModelPY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ab54237e9d58b741ef1e7413a14fdc41e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; Scalar, Options, 2 &gt;</type>
      <name>JointModelPZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a406257a5a1b41a98b1853a97a9da12ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelRevoluteUnaligned</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a128e964a2b9d277bad6a3e6f3014d08c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelRevoluteUnboundedUnaligned</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a17a21e326e09c182fe84bd50611ab094</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; Scalar, Options, 0 &gt;</type>
      <name>JointModelRUBX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a81b1a9032614e20d27d927dee6dbbf9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; Scalar, Options, 1 &gt;</type>
      <name>JointModelRUBY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a7ffbc06d1b413a541a767f27d7c36f98</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; Scalar, Options, 2 &gt;</type>
      <name>JointModelRUBZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a55513fb6a30acfbb88c9024fde2cdc90</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; Scalar, Options, 0 &gt;</type>
      <name>JointModelRX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ac5de0dc7b6f9c2482b90d0ac9b208128</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; Scalar, Options, 1 &gt;</type>
      <name>JointModelRY</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>afbb27098cb167239ec0c2668e01d7f09</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; Scalar, Options, 2 &gt;</type>
      <name>JointModelRZ</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a674a227910c10cd33ecff0acb191587a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelSpherical</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a3b9ef8cfc33d9078b11b094a6873c6ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelSphericalZYX</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ab28d9bf9a378812ad5d8685f0a8a6580</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelTranslation</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a6f46d08986ecdf7f50de3ec33b3afdf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variant&lt; JointModelRX, JointModelRY, JointModelRZ, JointModelMimicRX, JointModelMimicRY, JointModelMimicRZ, JointModelFreeFlyer, JointModelPlanar, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelTranslation, JointModelRUBX, JointModelRUBY, JointModelRUBZ, JointModelRevoluteUnboundedUnaligned, boost::recursive_wrapper&lt; JointModelComposite &gt; &gt;</type>
      <name>JointModelVariant</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>ad5a891f02e5223cdb7b32847bb45cf20</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a730314df2da505b5c8f44a6f57de66c0a63a57311b3e6ee8285ef33cbf856ba26</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1JointCollectionDefaultTpl.html</anchorfile>
      <anchor>a015adc065171bd392223d46d656c2c6d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointCompositeTpl</name>
    <filename>structpinocchio_1_1JointCompositeTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataBase</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; Derived &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; Derived &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataMimic&lt; JointData &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataMimic&lt; JointData &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataMimic&lt; JointData &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataMimic&lt; JointData &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataMimic&lt; JointData &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataMimic&lt; JointData &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataMimic&lt; JointData &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataBase&lt; pinocchio::JointDataCompositeTpl &gt;</name>
    <filename>structpinocchio_1_1JointDataBase.html</filename>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a3635470663ec3213bb41806554a27761</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a366ce0bdfa51e023369360d9512dff0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::JointDataCompositeTpl &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a96c8011381006300767e1278d7a8a3d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const pinocchio::JointDataCompositeTpl &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab5411b074669adbb043a12e37c8552b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ac4fecacbf8ca39fbcfbd5749d9997af1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>acf083019230da98fbe33b55f2e94dea7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae9a46ac51dc87a29d04e2611484427fe</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a48b2d20a7b822f5b67974d7911d91f9d</anchor>
      <arglist>(const JointDataBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1f9ae4de8b3505c3fc1b31b7709e40d7</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNotEqual</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a69a2be977909c4b9ffa1019a07770644</anchor>
      <arglist>(const JointDataBase&lt; pinocchio::JointDataCompositeTpl &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a16b9b0fa7476f87add89d2c495c14be8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a76b60e290c12787dd55cfcd520f0250c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad54be7e28126c9f74b8213ccd37016a8</anchor>
      <arglist>(const JointDataBase&lt; pinocchio::JointDataCompositeTpl &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ae81986930d9f013a442b1a465ea3ccc9</anchor>
      <arglist>(const JointDataBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>adb4942df5fb870d62e507eec1594a532</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a51423c331a7d3af6089882ef88f6888a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5065df9e93b4b7f9a7a1fa6de09ffebe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad03e413514ff07f128c1f87f541b177d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a24b6d731fb0019926f098dde6ce3f4cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a7f3fbc0e8e3d3d975e48d958f5c56922</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a5fd6eed3bd420e1cc96f8c045f726f3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a62744ed84b5fc43c00ded69fc1c1fe2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a1819dc4b4488bd9fa747953522c63b0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ad829ed44ec3c2a9a7a5e5b181e119509</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a448f480ac26057a2dd786040c9f619c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; pinocchio::JointDataCompositeTpl &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>a233ef9caa6714fc670e4d453d1933949</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>aac67d92f51db16f60804fceebc4b208d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointDataBase.html</anchorfile>
      <anchor>ab0bca861710047706f087e96a6a8bb33</anchor>
      <arglist>(std::ostream &amp;os, const JointDataBase&lt; pinocchio::JointDataCompositeTpl &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataCompositeTpl</name>
    <filename>structpinocchio_1_1JointDataCompositeTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointDataBase&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDataVariant</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>acc01ef1d2758e960d7d23dfc530d8514</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a7fb435a81b31e020c2989125651d1c77</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a349e2700f276c244ea82d6201b580cd1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>ab4c5855458482bd8b61a151baef57a48</anchor>
      <arglist>(const JointDataVector &amp;joint_data, const int, const int nv)</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a3597b1019d49462cad91d086d3f4ffbe</anchor>
      <arglist>(JointDataVariant) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>aa18a599b1f5a572fc8d3c2725a4921c7</anchor>
      <arglist>(Transformation_t) iMlast</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a9ffee6a08ae7d1a8535524f0b64dc15f</anchor>
      <arglist>(Transformation_t) pjMi</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>aed8d432d9ef60416cb3fd6ca54110235</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a7d7811725dedee59fcb452d8d7c74416</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a7d4c65ea84b4cb8139d4c1e08cd362c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointDataBase&lt; JointDataCompositeTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>ab5cf00dfcd11c57486baa821006ad4e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>aaeecf88f48e4147fe20fca51b54b97fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>aff128f200fefcda0d8eca347f023380d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a26010d50614242856cc4a7f0a713f3c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointDataVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a13d387923f9f7895083a8f4f1def57e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a82d24eb2ab24774c029b6c7b0b3af5b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a6df2f3cd92f111127af7edbcaad10ba0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>StU</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a2c829a8043b4e9b0ae42dcf0cb7d1ddb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>aefff953fb11f82b8f08f26f6921d229f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>a0e6745be3a5d650bbc3a380f370a75be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataCompositeTpl.html</anchorfile>
      <anchor>aa5942b7128d78b3e0bd1c4d4170ed884</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointDataDerivedPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>a5fcc114235d1fdb39395ced946749df0</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>a1b4eb9bc130d6cbe58b9883aaa247233</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::Bias_t</type>
      <name>get_c</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>aa0cb0325b6b8958cc454c0705dadd2ff</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::D_t</type>
      <name>get_Dinv</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>aa3f9814539c89d095bbd8eb0dab820e6</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::Transformation_t</type>
      <name>get_M</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>afe386864e5e2ef61cbd4df2cfeb67a1a</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::Constraint_t</type>
      <name>get_S</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>a7e2a566a3ceef43aff84c7dd20c5911f</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::U_t</type>
      <name>get_U</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>ac522a9ba3fba408a76198e8c0116786c</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::UD_t</type>
      <name>get_UDinv</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>af6e2d5eedc5f6b9363d17f9274f564ce</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointDataDerived::Motion_t</type>
      <name>get_v</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataDerivedPythonVisitor.html</anchorfile>
      <anchor>a005cf5ade4688bb7c6a6822f0146cc03</anchor>
      <arglist>(const JointDataDerived &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointDataExposer</name>
    <filename>structpinocchio_1_1python_1_1JointDataExposer.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1python_1_1JointDataExposer.html</anchorfile>
      <anchor>abf5e1340fcc0447858d229f39a290afc</anchor>
      <arglist>(T)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataFreeFlyerTpl</name>
    <filename>structpinocchio_1_1JointDataFreeFlyerTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataFreeFlyerTpl</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>a3a0e130ac3b97faef894695b237c6f00</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>aa65a0e85c100ecc3c1f5cfa91464427f</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>ab550d6b79baed5b6b99a04b033a672ab</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>a8748132029216f7d66fd5dab2e4c325c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>aa3a3ae10954a5e8825bc66ac3068a2c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>ae166eebf5b4cf9697976ac21aec5d361</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointFreeFlyerTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>a2eaaca37833177c8ceafaa7eb9086b68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>ae0fae1c23d1ba009b470fea41b8370d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>aaea92be5e25c166254ca3de061a8f67a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>a1c2202f47e8f098b927278d8f9076d3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>a2fe0182624f59464df06e96d31a68112</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataFreeFlyerTpl.html</anchorfile>
      <anchor>aeff10bd86b5ddf23e04a6b4926700675</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataMimic</name>
    <filename>structpinocchio_1_1JointDataMimic.html</filename>
    <templarg>JointData</templarg>
    <base>JointDataBase&lt; JointDataMimic&lt; JointData &gt; &gt;</base>
    <member kind="typedef">
      <type>JointDataBase&lt; JointDataMimic&lt; JointData &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a7462697d100767ae1f73fb0239140598</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>BiasTypeConstRef</type>
      <name>c_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>af457bab0a249374b077154b6d323a57e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>BiasTypeRef</type>
      <name>c_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a18d8245d9fbbe1536ccec3188bbe2b4d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>DTypeConstRef</type>
      <name>Dinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a5331786ba2d8a7c7189209df9131a491</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DTypeRef</type>
      <name>Dinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a28fd80ffdd920a47651429b4d5fca690</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a7e3bd028b4066e9753596ecb522659c9</anchor>
      <arglist>(const JointDataMimic &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const JointData &amp;</type>
      <name>jdata</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a4b6ebf303d1655d23d5464552f184127</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointData &amp;</type>
      <name>jdata</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>af3ebe0a94775e7c1dbe36a3735ec6c0f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t &amp;</type>
      <name>jointConfiguration</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a49a15d906284d78b1f42c210b0944e6f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConfigVector_t &amp;</type>
      <name>jointConfiguration</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a651aa969b9ccf7a47099c728dffe152a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataMimic</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a309280a66b3567bfddcc2589505158bd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataMimic</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a395c32e1923d123e7ba37b63536cb971</anchor>
      <arglist>(const JointDataMimic &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataMimic</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a9562bca44691c28cc4feeec5652c38ce</anchor>
      <arglist>(const JointDataBase&lt; JointData &gt; &amp;jdata, const Scalar &amp;scaling)</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t &amp;</type>
      <name>jointVelocity</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a4801448ea24be2ac588727a67f584661</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TangentVector_t &amp;</type>
      <name>jointVelocity</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a862187edeb81a0bffa68158c122b496b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeConstRef</type>
      <name>M_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ad3241e76c96643e2d9fb6d2922edb345</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TansformTypeRef</type>
      <name>M_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a7bab8c8316af6416cd8f1ce126afa6f9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointDataMimic &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a7c6eb44eeb5ec80fa40e27bbade05ed8</anchor>
      <arglist>(const JointDataMimic &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a081fcc639ebd54a60ceb4a21c02eff21</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeConstRef</type>
      <name>S_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ad960d39bb2c5bb38aa2691d8d7b8de68</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTypeRef</type>
      <name>S_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ae99878bc7a2fb3cb3034714f53f10eba</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>scaling</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ad08619dd700d2e6b08080af9ea034edb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>scaling</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>af345c3cde67bfe19ebeb3c5b05e4aef9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a36c8a875e561186a8f60ea19d2684dfd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeConstRef</type>
      <name>U_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a3771ef3db8d7037e226f46c24c38fb1f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UTypeRef</type>
      <name>U_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a412e7b8f5f75c0b75ed53f1fd958f83c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>UDTypeConstRef</type>
      <name>UDinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>aae6945803b704555e0a4712224d62feb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UDTypeRef</type>
      <name>UDinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a37a8b60ea27288c9be3d6a58c305f5e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeConstRef</type>
      <name>v_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a293e942f8a3050707d78a29cd75079fb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTypeRef</type>
      <name>v_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>adc709df1d6eff8011ca558d6539b5f11</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a1a1959f38f7e3b0f275aca4819eb5aa2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointDataMimic &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ac81c76bf7f9eec94e0de38a46cab9286</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>afed3d551ab21b8f695834d0b2d22e4ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointData</type>
      <name>m_jdata_ref</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ab420a94e27615e5945091d705d3844cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConfigVector_t</type>
      <name>m_q_transform</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a281efba8bbf0d3d8242b6facca7f915a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_scaling</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a3592dc6902cbeb6aaaebf0279278eb0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TangentVector_t</type>
      <name>m_v_transform</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>ac214f1e8970fe1f526b4de42bd708a2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend struct</type>
      <name>JointModelMimic</name>
      <anchorfile>structpinocchio_1_1JointDataMimic.html</anchorfile>
      <anchor>a96c91c8961b7bfce81fb91e349344d18</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataPlanarTpl</name>
    <filename>structpinocchio_1_1JointDataPlanarTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataPlanarTpl</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>a991e34be16be84681337568f638813a1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>a52e93cdd935291e1e9c8268cddc399c9</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>ad42ea9aeef157177605ae9d0fc29816c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>afe5b4bf7de10dc533eb4756104540108</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>acd13ce8121e0d6bb5b9bc5b7634f9935</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>ad149b8ce93e53eab1b9e83e577cc3010</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPlanarTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>aa1bf305081f7ac6a01b83cf6cb3dba9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>ad4729c30b9e5fe5504cf92cce72f00e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>a7d02eaa58c2380360bebca097978729c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>StU</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>a6bdf3845822c1494781634dc8a8d910d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>abf9e977d35c85efba184efab38e97646</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>a26121e50c48f4847b1073920fe5f6ab4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataPlanarTpl.html</anchorfile>
      <anchor>a3637d145c4cd449a6ac92c46ea60833c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataPrismaticTpl</name>
    <filename>structpinocchio_1_1JointDataPrismaticTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>JointDataBase&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataPrismaticTpl</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a658ae412f269f9676e103d4324b686a8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>af64d13cc95d538753abc69ed84cd7022</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>aeb6898ba88b9ae87e819073a7ac4811a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a3ea7202acac9d034cedb537710a991c7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a6962e2b792a749695ae9baed73c70891</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a979c8d7f9c240c7d83f53579e7db17c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPrismaticTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a30d83e783194537582f69026528f5fcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a0091977e71e6d8a50f723d211813415c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>af89ebc08ee47d246547f4830abcca387</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a1e96024a1349954d9c1ea2c0ac66da71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a720e73745c77efaaecb01be1d1252efd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticTpl.html</anchorfile>
      <anchor>a8e466bf22d51ed6f9ea495f14781a2c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataPrismaticUnalignedTpl</name>
    <filename>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af8b12ca8dcf62a0c7c91a7dc06c1a61a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a01af68fbd37a35d4ddf46fcc2dfdabb1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>ab076ae8a4ff4ccafd62b8785c9cdd95a</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a25957169d06a46da4ee03b1911767135</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a0a2b33e3c63758a547edb7bda62ca4e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a2da5d12f2f945f838ac3fca6aa369966</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>abdc423efd7b098a5d31941f1af7db949</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af2b603c182476c6eb385a281de4022df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a5c1c3e9a57562d1a810b5a8ca0bdbcf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a706ef7d0470db6cb7fda4da35ff5baa3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a427e7602b77c9180aa7e84934f390660</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>ae1d554f3f46755a1644af7b3ed964c4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataPrismaticUnalignedTpl.html</anchorfile>
      <anchor>aaf46c9b7b8b876741e11f515365345c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataRevoluteTpl</name>
    <filename>structpinocchio_1_1JointDataRevoluteTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>JointDataBase&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>ae49f598f9052c8487ddaffb25559612d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>aad2d2672ad3699ea3855b41519c44bbb</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>afb8b413745d4d38ff52d8ccb4f1f4438</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>a974b78036436d1e5e7033af2c7a97611</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>aaaaa251c2c403d41f33c726162e11b30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>a8ad5e998222af5227c85015df33c5505</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>ae95458ba20dcd5d6f5efcc7485baa098</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>a15a9836a9e5cacf256ca42e3fba291eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>ac1946f012925445c0a26c8117f02de1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>ab8fe671dd225270938fd06d5d2b1a9b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>a4e3c6c9502bbb1dccb5e51a6882231b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteTpl.html</anchorfile>
      <anchor>a8fa53b3758ab395e9d00e53b9ab85135</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataRevoluteUnalignedTpl</name>
    <filename>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>afbaa50373bb56b38f26428268eef1797</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a7e8220aa810536f4dc48730a0ec2eace</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>af633ea32f2a2de3b17e68ffec183a6e2</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>adafdac0705afdfb260279e47982e6fb6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ad1cd2319b253c24c43361785a37dd7fc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a7c8b3a24f259fbe44cefc475a170a64a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ab2dd9287110d97171cbc2be63d38039c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a5682491deb5f655e3281151f1ea62e10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a9bd7c1bd7c4d6777c145790bfb357ca2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a3f1ea6154c3ae25bb6fdf959b30d6cd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aa504981ab90d681558d5b4bcf161b670</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a073d79eff2e25bab07f08d342f3d490a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ab9f47cf390599b0d9a607736e9a00199</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataRevoluteUnboundedTpl</name>
    <filename>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>JointDataBase&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataRevoluteUnboundedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a3bfb7aa8d8373d347d1e316235a43afb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a744560baad31e34386368c092f2e7f77</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a730aa6bd281b9fe871bdf016c72be451</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>af7470911d4dd3300e55d23946ec08a1e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a863a14c7ef31b96a841672f7086b883a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>ab42e49adec941a2815ebb5f22cc6894b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>aaf31ec04517d266dad3c44319a2a4615</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a291cf6b3e28319cb892f3bd393900617</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>aa4997b3c4e229882847d9dffd41318d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a2cf9b5f44ba7afeadaa7150fca2b8ce4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a0a52832a4b7f9a9fbbe6fccb86717168</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a43ac53397a76cd88b78833197ecaf1a7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataRevoluteUnboundedUnalignedTpl</name>
    <filename>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataRevoluteUnboundedUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a027d673b53fa9e3ec498e138034eb425</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataRevoluteUnboundedUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>aff69a66d81488b586dc72f3fb1ddc150</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a872165bfee80c06764c945023c2662cf</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a1dfd61c49f7ea47ba6d8d880cc73e674</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>ab10a994e6ad1031b002e6e7d615d8714</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>ae95ecea9074ee32011c91a7a5bafefcc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a38f3597a98c865aa4015561fe5da7dcc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a89a046be317c5d9fd9734b23ef32a75a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>acaae514fb83fecbd5943aa9c744b80d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a0ebc51ef96054de34b0b0ceb8c9cbf5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a2c543ef58adbb6ada5f39b2d4905da34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a832046fd1efb335f7cacdc974a2444ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a7e216a7bf2015c682749d9c5a26bf2f7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataSphericalTpl</name>
    <filename>structpinocchio_1_1JointDataSphericalTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataSphericalTpl</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>a3eaa702da5c515676293319ed0c757cf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>a5ac415accb01805c430a8235e511ccb5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>a62af349e2c2185c75ba2ff987fc02e5a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>ac15231c4b16886fb7a4ed99db4aa9ef2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>abce17dc077d48a8fcc6c11ad39049cac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>a24d94ca5447e8a723ab816c9bec4ce96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>a35c0faf788f6c1d25bac5528366ffc82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>ac14efebefeb7d9f900d6224b0d30abb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>aa51dd27eae39abf9738d1e10aaf9bebc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>a6822ea5a64522d34a84c6904c751cf1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>af8b2b4ad81115f6230a34c5a1c5d9433</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalTpl.html</anchorfile>
      <anchor>add37acb668772572b2328922dddfda96</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataSphericalZYXTpl</name>
    <filename>structpinocchio_1_1JointDataSphericalZYXTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataSphericalZYXTpl</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a42fdc8ff48c4d2b4f29ae0bd32b80e80</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>ae6c7d3c8d6bba16409bb51e9ec30af31</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a9f7391109ab44c927fbefd60912e7a7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>aa852ee4a88cdaf57044e7cca78093ede</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a6a7984fce5dbc2d05993a1b90ae4eb52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>abddf4fc84429df6bb0be49be0116f50c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalZYXTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a231a73869a8d7dd018ddbd9875ee2d3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a040d7b955432a9aa28290f023093b52d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a6a5bf42da0687f65d78ff8592abf0add</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>StU</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a15d55bd4319dae50a7b4308bb535e916</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>aa1f1a864e8707247d0173460ef66ef29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>a0b71044fc2106837360235a214adef1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataSphericalZYXTpl.html</anchorfile>
      <anchor>ab7e680307161f4f91a9fc083eb64adaa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataTest</name>
    <filename>structpinocchio_1_1JointDataTest.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataTpl</name>
    <filename>structpinocchio_1_1JointDataTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointDataBase&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>JointDataBase&lt; JointDataTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a61d518e9e3f886970d23a5283b7532ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>adaad6a6759810263a801946f9aef4817</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointDataVariant</type>
      <name>JointDataVariant</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a84f008f20138780d1e7f309199bbfa56</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>afa994e6ec9116c8481ae6452c6586e5f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Bias_t</type>
      <name>c_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a3315f859149f7d1943ba02d43cfa6a79</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a598499ee25a143229d2472489cef5769</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>D_t</type>
      <name>Dinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a0897fa36bf3542c8750ad5664b00ff67</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a92905369f35ca58fd54a81d7a8660ecd</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>aef998e73052bb0d65b6d7f5dde7ad474</anchor>
      <arglist>(const JointDataTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>aadf8e38ff7d17d37cafe48406f20a7df</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>adfbc690f89eae674a61f98f9f54fbe29</anchor>
      <arglist>(const JointDataVariant &amp;jdata_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a782571dc5736345ca9d0e9d349339aa8</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ae395a4888d2943c6a2049894edad34ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Transformation_t</type>
      <name>M_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>aa8cfa0504abfbdfd1b412a3fcc4f2306</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ae9d0cf7e5f8110820a8acae96efbd298</anchor>
      <arglist>(const JointDataTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad28cd8f123d7cf1f563eba4fee6b2026</anchor>
      <arglist>(const JointDataTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>adfd03c58399a5463c81e22b05e9e0459</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad42685a070433f69fbc5629d9ea6333e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Constraint_t</type>
      <name>S_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a83e1e43b98e113df1bc070defac0fd17</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a72c06ee7c7f175aa2b103aee6cbae160</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a52007836b7979a1bd672beba1d9d1367</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ae2f35640e3bfe624abcd4c7f810dbd0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a9b68c004dc2555c8d2cb60c96131ad6b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>U_t</type>
      <name>U_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad44312d79dd3223e55eaf1dd1c0a6830</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a8c8d15c45ebe0394cbf97a29c9e951d5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UD_t</type>
      <name>UDinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>af0b479fbfa8105c33e597a6ded9d8bb1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>af533b925960111d6ce452e2e977de335</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Motion_t</type>
      <name>v_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a934a030f465ab642d839c117b2273e77</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a938b616b02b31ba42fb48917ad04e11a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl&lt; _Scalar, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad8e8c445ffdc32d7bdaeab87a3a7c5c3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointDataTpl&lt; double &gt;</name>
    <filename>structpinocchio_1_1JointDataTpl.html</filename>
    <base>JointDataBase&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>JointDataBase&lt; JointDataTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a61d518e9e3f886970d23a5283b7532ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; double, _Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>adaad6a6759810263a801946f9aef4817</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointDataVariant</type>
      <name>JointDataVariant</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a84f008f20138780d1e7f309199bbfa56</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>afa994e6ec9116c8481ae6452c6586e5f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Bias_t</type>
      <name>c_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a3315f859149f7d1943ba02d43cfa6a79</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a598499ee25a143229d2472489cef5769</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>D_t</type>
      <name>Dinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a0897fa36bf3542c8750ad5664b00ff67</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a92905369f35ca58fd54a81d7a8660ecd</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>aef998e73052bb0d65b6d7f5dde7ad474</anchor>
      <arglist>(const JointDataTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>aadf8e38ff7d17d37cafe48406f20a7df</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>adfbc690f89eae674a61f98f9f54fbe29</anchor>
      <arglist>(const JointDataVariant &amp;jdata_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDataTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a782571dc5736345ca9d0e9d349339aa8</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ae395a4888d2943c6a2049894edad34ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Transformation_t</type>
      <name>M_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>aa8cfa0504abfbdfd1b412a3fcc4f2306</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ae9d0cf7e5f8110820a8acae96efbd298</anchor>
      <arglist>(const JointDataTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad28cd8f123d7cf1f563eba4fee6b2026</anchor>
      <arglist>(const JointDataTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>adfd03c58399a5463c81e22b05e9e0459</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad42685a070433f69fbc5629d9ea6333e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Constraint_t</type>
      <name>S_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a83e1e43b98e113df1bc070defac0fd17</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a72c06ee7c7f175aa2b103aee6cbae160</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a52007836b7979a1bd672beba1d9d1367</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointDataVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ae2f35640e3bfe624abcd4c7f810dbd0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a9b68c004dc2555c8d2cb60c96131ad6b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>U_t</type>
      <name>U_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad44312d79dd3223e55eaf1dd1c0a6830</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a8c8d15c45ebe0394cbf97a29c9e951d5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>UD_t</type>
      <name>UDinv_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>af0b479fbfa8105c33e597a6ded9d8bb1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>af533b925960111d6ce452e2e977de335</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Motion_t</type>
      <name>v_accessor</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a934a030f465ab642d839c117b2273e77</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>a938b616b02b31ba42fb48917ad04e11a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl&lt; double, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataTpl.html</anchorfile>
      <anchor>ad8e8c445ffdc32d7bdaeab87a3a7c5c3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataTranslationTpl</name>
    <filename>structpinocchio_1_1JointDataTranslationTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointDataBase&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type></type>
      <name>JointDataTranslationTpl</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a3ea7d626ce6acc843d039310c3a1b7d2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>acd89a54460404352f6fd01fa0db0e3b2</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>ab65e3ba2fdabdcbdca4795b9749d8dd0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>adbda329331e218a3f8553238a76d9bc3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Bias_t</type>
      <name>c</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a2ddf029fb8400404c99d1ce58eeedee3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>D_t</type>
      <name>Dinv</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a8a8b20afce7d8285327c613229d3b845</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTranslationTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a8377cc8107f9fc01fd0229481d6afb24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Transformation_t</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a63b026fb99ff01c8cac005ab5d6a2584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t</type>
      <name>S</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a2d7d70b3160e1830ca9f36c80b12a228</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>U_t</type>
      <name>U</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a56cae29e2a7ab9a9c1f51a6a222d06c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>UD_t</type>
      <name>UDinv</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a7e785e040b2d36d2420715fdd44b4849</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion_t</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1JointDataTranslationTpl.html</anchorfile>
      <anchor>a9798fdb631a655617eafd7fa690e7d31</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointDataVoid</name>
    <filename>structpinocchio_1_1JointDataVoid.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointFreeFlyerTpl</name>
    <filename>structpinocchio_1_1JointFreeFlyerTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointFreeFlyerTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointFreeFlyerTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointMimic</name>
    <filename>structpinocchio_1_1JointMimic.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelBase</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, Derived &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; Derived &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; Derived &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelMimic&lt; JointModel &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelMimic&lt; JointModel &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelMimic&lt; JointModel &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelMimic&lt; JointModel &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelMimic&lt; JointModel &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelBase&lt; pinocchio::JointModelCompositeTpl &gt;</name>
    <filename>structpinocchio_1_1JointModelBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6a4ebf5b025f770b4f101999ca0800cb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af1695dac0d808ecc73b809fd38fcff8b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4b53b5b0902b2947cfa137183ee74000</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I=false) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, pinocchio::JointModelCompositeTpl &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5d17c835ba4e266d925d8fbd3b02df06</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a636977fc6d3843308b00fcae8f4acfd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa8bd8bdd348f3ae9137d861afa6724e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelDerived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a678a1a53ae2e7971635615cf86618eae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a10baa8728d6b3da0cbd194757f76dc70</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a37306048a67d366f1ac5cf9cd93f4b23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9570260a575b5457b450d004df7183ba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9a2f0ee3b1ad287869c820c739cea477</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>afee80aeb53247ccb0b65acf6288acabd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a08d4f1425c9fb91982918af169eacebe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1a405946f87e444f4b84eb1de15257f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac764cc408ee454889c61897ef16c11aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa25d8a13cd00dee4737bc28cb900608a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aa7c1e8c92f7b8c7a543ac471d70228be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0fc217b388cba3317c6114699aadc3d1</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a52b3ec62cb9a8b7abd9890288eb2ec07</anchor>
      <arglist>(const JointModelBase&lt; pinocchio::JointModelCompositeTpl &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7bc69aed0524ab548a92c09821bbca87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ae957bb2cc79313b54163839765d2324d</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a81ba2ff793a9c093496f5fb9ef02bc3e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a1921ce9d9026de259e12822788f9d853</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a179c54acad4e4e6093ac6b9480aa8e4e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a673ef181fafb73d3f485acc16de7031e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0c6b22fc43b50be11d1d1948d6df299c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ad3ae2acb995ccda6a5a9229e88ede215</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aecb7bd73ff1c8fbea6a40bb5fcc5b17b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a2ff625e042e405d4307aca83a55457e0</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abda6ae60df704661cddebfe69503f464</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a022ab7c607345b629f3a8391873c8aef</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a3e3833cbe9c931a2bce712b6da02fecc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aaa96f8a0185efb427899cb83234585f1</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a7886f998b53b21f01cbd30c4886e7ff9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a511005751a1e8d7462edd97427395ce4</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8093b42fd701f7a67074907fdf044379</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4f6ceb5328c70d7fbfb1be8266b4b097</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4a940d5a463297f43a220afd445b0a8b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ab3769c05993acfd00b6d302104f1e56e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a850b60f35fd220d82a0023b9f7698a11</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>adcecb56a1314912bf243f356ae4f2079</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a6b22533ab7ebd6267fafa685e2607509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>abf409326a614905bd738e10b48bfcab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af329cfc4059306d8fc411a3728ef32a2</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aec0916912b7203eace4c46df73fc68ce</anchor>
      <arglist>(const JointModelBase&lt; OtherDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a5661ba99b38be4c81cb8ef8fa7555ca5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>acb0049112e08772f130ab2524e4805dc</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>af0a07c71ba03aae11bb78bdaa369259c</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>aba1ed8cacfd9bb6783320fd2a213427c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a8855810a60154a750002d4704f05e9eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; pinocchio::JointModelCompositeTpl &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a383671c277ee6e8e1fc3195a4da03065</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a9b1144305f5e8ea265fda2a429d0d7fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ac6284bc1f677910c501d6dd5a2eab2b2</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>JointModelBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a4941fad5677f493ddf2fa1e26f4fd852</anchor>
      <arglist>(const JointModelBase &amp;clone)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointIndex</type>
      <name>i_id</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a0e2acfff3b828951d68b1287ef824015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_q</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a912340f5cc86427b306fc2e87ee633b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>i_v</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>a12cee4eaba3db993feb72e22c08d1603</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1JointModelBase.html</anchorfile>
      <anchor>ade5169aea78e919e629b2415ece5ecc0</anchor>
      <arglist>(std::ostream &amp;os, const JointModelBase&lt; pinocchio::JointModelCompositeTpl &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointModelCompositeAddJointVisitor</name>
    <filename>structpinocchio_1_1python_1_1JointModelCompositeAddJointVisitor.html</filename>
    <member kind="function">
      <type></type>
      <name>JointModelCompositeAddJointVisitor</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeAddJointVisitor.html</anchorfile>
      <anchor>aa881c6936295124a7d3b10ba746e835f</anchor>
      <arglist>(JointModelComposite &amp;joint_composite, const SE3 &amp;joint_placement)</arglist>
    </member>
    <member kind="function">
      <type>JointModelComposite &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeAddJointVisitor.html</anchorfile>
      <anchor>a6d26b759484dcd33f4901de57335e728</anchor>
      <arglist>(JointModelDerived &amp;jmodel) const</arglist>
    </member>
    <member kind="variable">
      <type>JointModelComposite &amp;</type>
      <name>m_joint_composite</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeAddJointVisitor.html</anchorfile>
      <anchor>ab06f1a9bf2c25fafd5ba9e83885fded0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const SE3 &amp;</type>
      <name>m_joint_placement</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeAddJointVisitor.html</anchorfile>
      <anchor>a59961526e26c86f03efeae4aaf2eaac7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointModelCompositeConstructorVisitor</name>
    <filename>structpinocchio_1_1python_1_1JointModelCompositeConstructorVisitor.html</filename>
    <member kind="function">
      <type></type>
      <name>JointModelCompositeConstructorVisitor</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeConstructorVisitor.html</anchorfile>
      <anchor>abdd63935b582b71663940d6f4fc407b9</anchor>
      <arglist>(const SE3 &amp;joint_placement)</arglist>
    </member>
    <member kind="function">
      <type>JointModelComposite *</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeConstructorVisitor.html</anchorfile>
      <anchor>abbfb11979d2dd012689c5b1e45829eb5</anchor>
      <arglist>(JointModelDerived &amp;jmodel) const</arglist>
    </member>
    <member kind="variable">
      <type>const SE3 &amp;</type>
      <name>m_joint_placement</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelCompositeConstructorVisitor.html</anchorfile>
      <anchor>ac4b99ae2ed9bd94eae3a85f3a91761c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelCompositeTpl</name>
    <filename>structpinocchio_1_1JointModelCompositeTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointModelBase&lt; JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a28521262e243fb77c2a55c13f383c4bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>ae834319fa1e5475308714c5ee6fb00c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a6eabf633e3a2442bd8bb02cfa9620f67</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModel</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>ae1d68fe21c064352148e369c54b2ef3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModel</type>
      <name>JointModelVariant</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>af114cd50a380ba8a685dfad59c979050</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a99b35ceab4e2f876e1fef356d9d0789d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>ae6e2f4a1371d00e9aefed9971fe4cc72</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointModelDerived &amp;</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>aba8220a7f1af4a563bc904793d39ad80</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel, const SE3 &amp;placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>ae607873414ea543605954d9c44f1cf94</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a807b0aa4506abbf0b19a9e1b80fa40ac</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qs, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>abe9df17298f0ca51b57439561ce18b62</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelCompositeTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a06b04f5c96dcdd87a83b17ce1c5c27da</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a0c8a06c4fe11aad8d4f468a7df21d96e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a59f59da2e80eed8ff7bc6750d34bf7ee</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a523b4654b669a12d9a43b9dc06b0ecaf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a320f02b3397db093392b073160ac3eb5</anchor>
      <arglist>(const JointModelCompositeTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>aea562ad6d9de162ca29deadb257f46fd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a7ce785b3d9e5abd6042576f2a32a7f8e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; Eigen::Dynamic &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a0927872050087801ea505f36002e3ffe</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; Eigen::Dynamic &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>abb35c189ffdc683efaf04c34cb9f61c5</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a88bbbf96dcc2070efc5e85b4e67e318c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a6cfbcafaf4f656cf4a3aa0ec256162ee</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; Eigen::Dynamic &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>aec0e4be83d7a0de656c9d43cda9be264</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; Eigen::Dynamic &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>ac9e8ab24b5a26843dd3ded19872b8932</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a981e10e50bdd7d6ad1b3ad6f04bf1d08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a355a3c252e09ee2c61c5e73396a537b0</anchor>
      <arglist>(const size_t size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a7167a3c9fd96922ae6702b30a962cf1f</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel, const SE3 &amp;placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a8e91087b25fcb856bc55153770cc315f</anchor>
      <arglist>(const JointModelCompositeTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a4890f6de2934dc5bce231807c029e633</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>aaf679e284f84b05b078ddf951d3fa421</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; Eigen::Dynamic &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a46ee428bb8308472f56475e8b76f3ef2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; Eigen::Dynamic &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>af3874cbacf1d9570c37f8b8b1f36498a</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a401afe55e4fe609620e3df80b2f46226</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>aaa02139607515b39e91a904536dc6904</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelCompositeTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a25a15edf85bf497b31d685ef96f33801</anchor>
      <arglist>(const JointModelCompositeTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>acd950199bef3f2fdde4ff2ab89086674</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a7860922e7173c7cd8a42a12f632719f1</anchor>
      <arglist>(SE3) jointPlacements</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a5213f7a71c8ce6517914fe69d97692f5</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>abb8ce298135524cbf057ef8ed8b82603</anchor>
      <arglist>(JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a570ff8566eb18f3ef944d95c8a4fc6c0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a1750cb95ead863b2d3ea9dde67e4066a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointModelBase&lt; JointModelCompositeTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>af1896dd2d242b0c023c7a2129d08749a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointModelVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a3ea89524d3fa0b0b0248fcb13253e2cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>njoints</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a303c38814db68ce523c891f23c912467</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateJointIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a00492bf59e75a071f75baaafa450ec41</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>m_idx_q</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a55d377fda64ba41e3bc3e783b2174eb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>m_idx_v</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a67418c20640743d8fbe0cd552aa4fe0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_nq</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a34c2d532480800065ceae1baec4cb56b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>m_nqs</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>afa7f54a0d97a1c6493ea69e9492c48aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_nv</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a95d581c954e542218b448ec8c98f4d6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>m_nvs</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>af2a0cb613b0dff9a9f8c6f12c9f34c5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend struct</type>
      <name>JointCompositeCalcFirstOrderStep</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>ad3ee8bde03cc1b190d7f93d8725ea3bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend struct</type>
      <name>JointCompositeCalcZeroOrderStep</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a19b20a0f539af311700894547e93c710</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="protected">
      <type>friend struct</type>
      <name>JointModelCompositeTpl</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a1ea6d45e169ccfa85c78e340415bb9a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="protected">
      <type>friend struct</type>
      <name>Serialize&lt; JointModelCompositeTpl &gt;</name>
      <anchorfile>structpinocchio_1_1JointModelCompositeTpl.html</anchorfile>
      <anchor>a8030899e5fc8c42cb86fc0c6f342bf0d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointModelDerivedPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</anchorfile>
      <anchor>a058f889083099fd9791bc63daf955739</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointIndex</type>
      <name>get_id</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</anchorfile>
      <anchor>a5f75a62f1e46324f074fba1311ce9fe3</anchor>
      <arglist>(const JointModelDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>get_idx_q</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</anchorfile>
      <anchor>aefdb7a7edfe7ed966b7ff23e30bf04ee</anchor>
      <arglist>(const JointModelDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>get_idx_v</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</anchorfile>
      <anchor>abde1bcb4e7a7830d0e9630d399b29083</anchor>
      <arglist>(const JointModelDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>get_nq</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</anchorfile>
      <anchor>a42a6ac6e4dfd62b87e4e5da9e5f0ee4a</anchor>
      <arglist>(const JointModelDerived &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>get_nv</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelDerivedPythonVisitor.html</anchorfile>
      <anchor>af9e604b7bfb1b3beacb0addf7a6f84b3</anchor>
      <arglist>(const JointModelDerived &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointModelExposer</name>
    <filename>structpinocchio_1_1python_1_1JointModelExposer.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelExposer.html</anchorfile>
      <anchor>a2836e806111f96b954adac31cd215b0e</anchor>
      <arglist>(T)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelFreeFlyerTpl</name>
    <filename>structpinocchio_1_1JointModelFreeFlyerTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelFreeFlyerTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ae75b9e37c99b345a9a6b56f665a4b011</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ab525dea65ece276bcc77ba9afa55d4cd</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; Vector3Derived &gt; &amp;trans, const typename Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;quat) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ae0268e26c0d2a63674ab44101f241481</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::PlainObjectBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>a2900fe1585ca2ed0617608a9a247383f</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ad5d12c00cc1ae9a66c6f5b2546efa26c</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ad1edb2f40249157860037a696f300330</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelFreeFlyerTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>a9032307b40237f16e5f8643e8087441e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>aa571d640db5b4ea9b226405ff1d45b25</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>aa661ef184b29b88fccd4f35d9ea8ebd9</anchor>
      <arglist>(Transformation_t &amp;M, const Eigen::MatrixBase&lt; ConfigVectorLike &gt; &amp;q_joint) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ae761e004c198f7199adcb21e441a5113</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>aa0c86ca75a6666bd8a28fed4d06fa2da</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>aa4ee0d5103939b1db16dfce946c0a950</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>afe4104cff5a2e6c4cd1ebb86c765671a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>a007a776786af2af8b0f5816ded334f01</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointFreeFlyerTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelFreeFlyerTpl.html</anchorfile>
      <anchor>ab42ef74895a79499c633d1c546a200be</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelMimic</name>
    <filename>structpinocchio_1_1JointModelMimic.html</filename>
    <templarg>JointModel</templarg>
    <base>JointModelBase&lt; JointModelMimic&lt; JointModel &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelMimic &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>acade456aa7814a79178b136e96d8ee99</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Base &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a60de13ff801f6d82470856af5d6d1154</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Base &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a0a0f7da07df1d7299949939442cdfe02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>af06ce7c7efcbf540dacb6984d5269ef9</anchor>
      <arglist>(JointDataDerived &amp;jdata, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>ac7a2e45f400a3c374cb98d83f126cb0c</anchor>
      <arglist>(JointDataDerived &amp;jdata, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a3b92beb5e90a396e8e64e6d649fa60bc</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelMimic &gt;::type</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a11fb2517d72bca506a90f6c3e05fc4c9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>aa4e46359a77f9d634729fc116e0de96b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a5ffd209b7b078b39499166ebe0005472</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a735f9c0668e7f4cf2398c48fb8820656</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>ae81db5551b6d857b9e6f4e3187c122a1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a660e2626aee4b70a981e400178175de3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const JointModel &amp;</type>
      <name>jmodel</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a583985c7e7356e553b13cea58c00f7e9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModel &amp;</type>
      <name>jmodel</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>af242f7ff03dd921ce43c4399ef23b857</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::ConstType</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>af8996cc224734b1789e1a2eb329c8678</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template BlockReturn&lt; D &gt;::Type</type>
      <name>jointBlock_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>ac80566efff696ba0bca679c9ef7a7b04</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;Mat) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::ConstType</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>affdcdc58fc9d7bffffa68c0740614411</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template ColsReturn&lt; D &gt;::Type</type>
      <name>jointCols_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a69c9ae7a1adb4062f1b49cfc37a2b7b9</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a0edebbf089ff1249ce85f5ceda278f15</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NQ &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointConfigSelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a0259f0bfb989bd51bce4053e2cec1a33</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelMimic</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a96c9ff6f7a1ad119a3f3f96e181903d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelMimic</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a80026f7bd7eedeb41008882cda6f0342</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel, const Scalar &amp;scaling, const Scalar &amp;offset)</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::ConstType</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a3fb4da17f8a9c90990e6eb16824714c1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template RowsReturn&lt; D &gt;::Type</type>
      <name>jointRows_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a489ecaa9e1203b70ea39fba5615e835a</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;A) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::ConstType</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a8b842d2fa7757365c1b1f02a179f82f4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; NV &gt;::template SegmentReturn&lt; D &gt;::Type</type>
      <name>jointVelocitySelector_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a15f669ce97dfb8fe2c5e1685d89db011</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>aefe55e3901162bf9940a212ce28c4ac5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a2d12470bd02a7117462aed0b3cf9ff59</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>offset</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a871d248b6ca3b147d1c9d18a6324ad62</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>offset</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a0839b49f0bfae1b4075137f16da8d201</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>aa78a2c843ccb400b78eccf09dee2d0bd</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>scaling</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a56cb5307fc631d0e9aebe38558a16ea5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>scaling</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>af9fc9d8fa8dd6a25495d699672dc9131</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes_impl</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a9009bcf2eaba47cda202d330733b8150</anchor>
      <arglist>(JointIndex id, int, int)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>ac4afb84f6b01057a91396a4029527d41</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a8f18ab4f47e9e7688ab0905761de3e34</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits&lt; JointModelMimic &gt;::JointDerived</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a47f6dd15a97537013b28743b248dfbe6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JointModel</type>
      <name>m_jmodel_ref</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>ae6362ac66174d31e65f97da950c9aef9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_offset</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a2d695201d7c9c891a390249e626378ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_scaling</name>
      <anchorfile>structpinocchio_1_1JointModelMimic.html</anchorfile>
      <anchor>a2614c82e275300e63be36b7840765526</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelPlanarTpl</name>
    <filename>structpinocchio_1_1JointModelPlanarTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelPlanarTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a50c1f84be02d42a6fff0a1873180d71e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>ad174bf6fdd39adacf0402e77ee6d0db3</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a31001b057922bfec7c05c6d103433c60</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a2527f5dc70265e27efdc7fc59b1c8885</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelPlanarTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a5df8d01970933993fbe1de81e8ba452a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a34aacf1aaaa0eadc3e52cb136c367c57</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a5ecdde72e4302d1673f79df5e3bcd568</anchor>
      <arglist>(Transformation_t &amp;M, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q_joint) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>ac6644051f0f9d206735fb8b3a2cc0fdf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a40bcae71131f2682ed75d4596f0cecfa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a3b9b3dd973eb54b7d4c3964dff9a7786</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a487bb9822ef9112c7f2e783205944833</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>ad55316e8586a455ca7f68917ce29cfbc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPlanarTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelPlanarTpl.html</anchorfile>
      <anchor>a37a498c1e09098ccf7a75f0245702f60</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelPrismaticTpl</name>
    <filename>structpinocchio_1_1JointModelPrismaticTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>JointModelBase&lt; JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelPrismaticTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a075b55868d19d4d41fcc6a7dba2524c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a2010beb1968a6efd4b8d77a389e453f8</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>ac3e4ee1cc4a4ef3635e049be64188742</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a56beb0f915754dc844f73e2e4c28b567</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelPrismaticTpl&lt; NewScalar, Options, axis &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a010daa522829eb18083c6aa71581080b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a7723815af86874a265490fe852cb51c0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a7a9521ad92f484e8477aeb999d024611</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a6a70fab8f7a07089063304ca8a853bf0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>ab3279f1623f32903105542110c5c513a</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>adc1c9e25f38dd15b458f5f79df8d5e6e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a42f09a1f7f791ac03864d3877f3a4b07</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPrismaticTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticTpl.html</anchorfile>
      <anchor>a40ee5b43124d98952c22efb91816e1a3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelPrismaticUnalignedTpl</name>
    <filename>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelPrismaticUnalignedTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a3a0883f484921515462c65e923815701</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, _Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a1405f44333c137ca11505b135719f159</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a52df850af895ec6ac434421625488a6b</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a4edce75deae68d408cb4a68c3cc27f39</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>afeeb4814547c10433d0a7bfd7953b05b</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelPrismaticUnalignedTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a7fdaa72dea4e5f21c0650c5abf88f386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a87c80847dd9481f126e1031822e0746e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a4ff71e9befe4a4dc5c9ddeeefd4ad232</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a5e36cbef99237999e5a8c76b46228397</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a261ba2bda1cb9ada13696b0766a7bb07</anchor>
      <arglist>(const JointModelPrismaticUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>abd348cd1aae64cf966918a100a4e4b09</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a09af515dbb7042b0bb1fcb62e1bc4ed9</anchor>
      <arglist>(const Scalar &amp;x, const Scalar &amp;y, const Scalar &amp;z)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>aed8a3230dd5ea4173ffe340b144a93e6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a28534feeb6c513bfa63afde269ee6cfc</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a78d1e8117d44e0459addb4b292b2b1ff</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a3315d956794d15fbee06c65f4b7f04ed</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Vector3</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>ad58cda1cacac1d088f95482c79adefc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a7ca03c2ddb711dfaa4e5766ede6a178a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointModelPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</filename>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>a131f910c5c02bf565cba134e6d8cad9c</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>a279c94fe370bc823b406af810d6784ea</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointIndex</type>
      <name>getId</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>ae8d9c025e19bafe860f6f9f5673f5788</anchor>
      <arglist>(const JointModel &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>getIdx_q</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>aba48705a630b120dd5e2468504691bbb</anchor>
      <arglist>(const JointModel &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>getIdx_v</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>a12f21225f7f703a69736e77e65dbecd6</anchor>
      <arglist>(const JointModel &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>getNq</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>a396d4da18c6886683af2ab4a1f58b63f</anchor>
      <arglist>(const JointModel &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>getNv</name>
      <anchorfile>structpinocchio_1_1python_1_1JointModelPythonVisitor.html</anchorfile>
      <anchor>a2279c3eb2327bf3ee5f17c31f771b97e</anchor>
      <arglist>(const JointModel &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelRevoluteTpl</name>
    <filename>structpinocchio_1_1JointModelRevoluteTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>JointModelBase&lt; JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelRevoluteTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a7fc010be36a064d212b442fec047038a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a2edfdd13ee4696a8b759ccf1f038b14d</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a040bc3ab70f6992415817dc3153eb8b7</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>ae1ae43249f8ae10955f91aaf0eb23e85</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelRevoluteTpl&lt; NewScalar, Options, axis &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a4c7a99bb71a0a35c6a103cad0527c773</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>af300a71df296a2c28fde15408da4c40e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a0212d3767baa6416bfe5704c55349a02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a92f6b9d449e5fcb93f7c4c4baafaa8f6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a803b2c00008bcfbb79ba07440d85f5b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a6818079905a21624438170ce9e19996c</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a63e0760490b7671e6ea1bf6896e1e0cb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a88f41eb9189b9681403a5065e497daae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteTpl.html</anchorfile>
      <anchor>a66378573a8e50cb37d910ca842c4d867</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelRevoluteUnalignedTpl</name>
    <filename>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelRevoluteUnalignedTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a830a606c3715e11afdc821e3a6471bd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, _Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>abe56e431252dd1e70cdae96e21b2797b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a3043a7e9f2bb75cf3fa2ebd5578c326f</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>afcb7ed6193fa075b7d677a696943628e</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a599aed67c69fd85a0430c9573458d58a</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelRevoluteUnalignedTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a0ceb093441ff8c68cac4f8d7163077b9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a6124de6476ccf61c980af1eae4d438f6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aa922f722c9f7c018f9840203c30ae67e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aef42d82dc10f5ab8a2a2456ec2418664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aaca33ecd9e5ff8e0627c9f96c7fbf466</anchor>
      <arglist>(const JointModelRevoluteUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ad826ee1078976e7a1b7a7ad69af84b79</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a975584e1c30eddf1fda934592ec6a9ca</anchor>
      <arglist>(const Scalar &amp;x, const Scalar &amp;y, const Scalar &amp;z)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a27b5192a393223e66234d020a9811b97</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ac4893d4789d371d82e317350c9ef923e</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a15e4ce16cc992dc8816855a36d2ada52</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a3cd5c13b3b9b6122935d4209b98cd5d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Vector3</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a622028e244989dc45fc6785b6095d6de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnalignedTpl.html</anchorfile>
      <anchor>afeaffbf9f8bbf21b76d2ff715fdb8f72</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelRevoluteUnboundedTpl</name>
    <filename>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>JointModelBase&lt; JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelRevoluteUnboundedTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a464820c17e5dc21d3bcd8ee0401ddf38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; Scalar, _Options, axis &gt;</type>
      <name>JointDerivedBase</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>acc906fb5639e34af238520fc751d904a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a842310e54cf574bc0186f5ada93ac69c</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>ab0c9d62e36293bbae97b10cb1683c7a2</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a75dc9cae699dc94300920c127f7d2bdb</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelRevoluteUnboundedTpl&lt; NewScalar, Options, axis &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a24a884d34f572c4a41df742dbd41ef34</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a08ef25ba8efdcaa2bf4609052fbc72b4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a2fd3f2e7c4a0213de956bbdd9481bc65</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a7a2916fd439ec247f1b5cacbdab936b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a003d85c20ea7ffa041ca23b978145027</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>a35ede610e3518a9579da7de7d06a8b27</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>af6a4f56b38863d5ac89dc3c53fd312d4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedTpl.html</anchorfile>
      <anchor>af0db4493df911da86032b3d7425c9926</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelRevoluteUnboundedUnalignedTpl</name>
    <filename>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelRevoluteUnboundedUnalignedTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>aa20928e35867b7b27c1e555d8c82637e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a1ed9ba72748eb8644af50537e163195c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>afd0a65edb2fcc8edaa80135af6677543</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>adda4d458e95ad2d9de919e4811de5311</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a8862ddf2b5887841319cf50a8cd79ea2</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelRevoluteUnboundedUnalignedTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>abffb0e6f50197f924e79a011180690d8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a0bdd6ad68608862c66efa2d69dc1989d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a2d9d1c5689ae04470f3aa6a270e028fa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a3a3cd768af8d7663ae2ee9cfeeb82e20</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>acdecd905a3a919da80e92bd635346098</anchor>
      <arglist>(const JointModelRevoluteUnboundedUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteUnboundedUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a52bb133ea3c2affb6946d0828f8b057d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteUnboundedUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>ac2c075693d9d5fe91673f4e7c4db8814</anchor>
      <arglist>(const Scalar &amp;x, const Scalar &amp;y, const Scalar &amp;z)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelRevoluteUnboundedUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a411571de0f5fdfa9b2529266bae9159f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a80ad7e9aff4af36367ac27f31fd2cb1c</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>aaa255b7659fa9bd5eed50d6d7429f904</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a8328dd11c5a4fe55c1669fcee2e90773</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Vector3</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>ab8fee034c053f57d6917d89665ab7616</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelRevoluteUnboundedUnalignedTpl.html</anchorfile>
      <anchor>a479c3cf39ab2fd36dc1edda7482ee982</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelSphericalTpl</name>
    <filename>structpinocchio_1_1JointModelSphericalTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelSphericalTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a58d72a545661fbde415056d11ae5cc95</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a4c9e4b6d7d920fd8d7d9e07572986f0f</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;quat) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a05b5fe94ffc111dba91f05a9fa8d9943</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::PlainObjectBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DONT_INLINE void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a84a67153a615294a90253f3252a0de75</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>aaafe4016da9852e8def0c4bf84feb368</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>acd36bd004b8960fea6cb696e139637da</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelSphericalTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a00924d1a70dd6d06dd93648c2dd79dff</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a5e88c0efac13adda83761ef5c9341f2b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a5e4ea388eed3b4657aa4c7b31e865829</anchor>
      <arglist>(Transformation_t &amp;M, const Eigen::MatrixBase&lt; ConfigVectorLike &gt; &amp;q_joint) const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>ac608997a3212c866b44014b3f5bf9d7a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a332d260d17c389d5aaeefbb7081e3240</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a18ecc07f6db537921fed76815ec30473</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a51be4f69042e93160ba8fcb943772471</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a18769b016edcd89080ce8ecc12bddef6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalTpl.html</anchorfile>
      <anchor>a6066b7601c031ba68a85c84e63408f73</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelSphericalZYXTpl</name>
    <filename>structpinocchio_1_1JointModelSphericalZYXTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelSphericalZYXTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a59f249faa264e976831e4fa459d30723</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a235706de2a432c56a4383fe44f4ad391</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>aa52114fac7c83e2bea2f5934f5f6ad6e</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>aba583035ef4e26f2675cd4e4fd133db8</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelSphericalZYXTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a35967f23935167a6d1b398a7791d0cae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a936acbd8b68fe92bb02525250bcbffa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a3e807508078fb85e06cad0ef4465a684</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a63d2697f42195347dd3095af18ef4934</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>ae4102f2c7496c208fa958759ddab67b1</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a2ef1d5a6d75817a332a8b5ca2d2b85f0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a8b408bf360cc419ff5e6a5efdcc7f010</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalZYXTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelSphericalZYXTpl.html</anchorfile>
      <anchor>a0fde398f07626bf56e093f58523a895e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelTest</name>
    <filename>structpinocchio_1_1JointModelTest.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointModelBase&lt; JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointModelTest.html</anchorfile>
      <anchor>a03f546de4627fb60623d80d738d28c38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointTest&lt; _Scalar, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelTest.html</anchorfile>
      <anchor>a96835c030436fbbfa2497e95e9bb5eae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointModelVariant</type>
      <name>JointModelVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTest.html</anchorfile>
      <anchor>a223466b4e8cbb7f4375b70f3009c8b84</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointModelVariant</type>
      <name>VariantBase</name>
      <anchorfile>structpinocchio_1_1JointModelTest.html</anchorfile>
      <anchor>af6a92740d7482fa498dfe05176dd56f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTest</name>
      <anchorfile>structpinocchio_1_1JointModelTest.html</anchorfile>
      <anchor>ab8b52e8c1030d0fa97a045e997e0293d</anchor>
      <arglist>(const JointModelVariant &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelTest.html</anchorfile>
      <anchor>a1c24d4cfaa7788a76bf01821acd7aca1</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelTpl</name>
    <filename>structpinocchio_1_1JointModelTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>JointModelBase&lt; JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a77b063bf45212469e5211a2af8b41aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointDataVariant</type>
      <name>JointDataVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>abf2a540ba5c464f3a19e99a341b4261c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointModelVariant</type>
      <name>JointModelVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ac15f0a76eabb02c7696cba8a46c54914</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a720b55e636fb5cdf9e9249b350c50436</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a3f93fa72283ad97e5e5984242120bc10</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a9c155fbe9b205e78cc688fcbc6496a13</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a4238a467e77087d2ff0042fd31820f72</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a32f1fe02c171a3e4dad768928fba283a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a0ba1c07887b6f74b2165ec8538ec4497</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a3bcd331f5ccc706c31eb1b1d732bd7dd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a961f4f46cee0c2c017c1d3dcbb15bfab</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a7fe0ae830941e44ecbe689cf646031f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a376061f27ee294b226261e37a78ce65b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a1f7556dba548b597bcc6ff3305a51c3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a9603dee3d967a6991c5d5caa03155d1e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>af59abd8ee338346f0b6bbb1def7e16af</anchor>
      <arglist>(const JointModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTpl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a1175e56c4b4360ccf975451b0e8560df</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTpl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>aa7777f6cf158e22e2911935312666961</anchor>
      <arglist>(const JointModelVariant &amp;jmodel_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTpl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ae0006a3548397d1d0a1a0cc8de493767</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ad73f067fe534b32ce3c97ee9d5013c96</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ada58227081bec6f6d3b8093d2b1f4828</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a6d643b84d7aa1c597350d714428d3ed7</anchor>
      <arglist>(const JointModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a87f221db6d77983e96455f9346d23464</anchor>
      <arglist>(const JointModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>adf643344247a9a3fd278b304a2ac5318</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_USE_INDEXES</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a0699b9b9362120ce434f15c8b9620b0a</anchor>
      <arglist>(JointModelTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a552ee1e5277510133074b17c90e3a123</anchor>
      <arglist>(JointIndex id, int nq, int nv)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a244e33c7a5af7c4109f16930cc44ce54</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a2c44117de6ccc3a2fd51468b3bb9cf03</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a5037c3c83f1f4bf21c85bae703f8c545</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a6cfc6c88201da730f579e824db1f44bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl&lt; _Scalar, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a0fdae4c181c4005be117d42dac8f5915</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointModelTpl&lt; double &gt;</name>
    <filename>structpinocchio_1_1JointModelTpl.html</filename>
    <base>JointModelBase&lt; JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a77b063bf45212469e5211a2af8b41aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointDataVariant</type>
      <name>JointDataVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>abf2a540ba5c464f3a19e99a341b4261c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollection::JointModelVariant</type>
      <name>JointModelVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ac15f0a76eabb02c7696cba8a46c54914</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a720b55e636fb5cdf9e9249b350c50436</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a3f93fa72283ad97e5e5984242120bc10</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVector &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a9c155fbe9b205e78cc688fcbc6496a13</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a4238a467e77087d2ff0042fd31820f72</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a32f1fe02c171a3e4dad768928fba283a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a0ba1c07887b6f74b2165ec8538ec4497</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a3bcd331f5ccc706c31eb1b1d732bd7dd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a961f4f46cee0c2c017c1d3dcbb15bfab</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a7fe0ae830941e44ecbe689cf646031f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a376061f27ee294b226261e37a78ce65b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a1f7556dba548b597bcc6ff3305a51c3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a9603dee3d967a6991c5d5caa03155d1e</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>af59abd8ee338346f0b6bbb1def7e16af</anchor>
      <arglist>(const JointModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTpl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a1175e56c4b4360ccf975451b0e8560df</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTpl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>aa7777f6cf158e22e2911935312666961</anchor>
      <arglist>(const JointModelVariant &amp;jmodel_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointModelTpl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ae0006a3548397d1d0a1a0cc8de493767</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ad73f067fe534b32ce3c97ee9d5013c96</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>ada58227081bec6f6d3b8093d2b1f4828</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a6d643b84d7aa1c597350d714428d3ed7</anchor>
      <arglist>(const JointModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a87f221db6d77983e96455f9346d23464</anchor>
      <arglist>(const JointModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>adf643344247a9a3fd278b304a2ac5318</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_USE_INDEXES</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a0699b9b9362120ce434f15c8b9620b0a</anchor>
      <arglist>(JointModelTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a552ee1e5277510133074b17c90e3a123</anchor>
      <arglist>(JointIndex id, int nq, int nv)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a244e33c7a5af7c4109f16930cc44ce54</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointModelVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a2c44117de6ccc3a2fd51468b3bb9cf03</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JointModelVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a5037c3c83f1f4bf21c85bae703f8c545</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a6cfc6c88201da730f579e824db1f44bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl&lt; double, _Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelTpl.html</anchorfile>
      <anchor>a0fdae4c181c4005be117d42dac8f5915</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelTranslationTpl</name>
    <filename>structpinocchio_1_1JointModelTranslationTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>JointModelBase&lt; JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>JointModelBase&lt; JointModelTranslationTpl &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a10c961441010d9b23bf8b3a0ea888125</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a49f488660b410874ddfdbe8a663f8ad3</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a127cd4a4d7a8891cf08d7f8360c9d8f3</anchor>
      <arglist>(JointDataDerived &amp;data, const typename Eigen::MatrixBase&lt; ConfigVector &gt; &amp;qs, const typename Eigen::MatrixBase&lt; TangentVector &gt; &amp;vs) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a120733442451a7d6fc0470e2d81856a0</anchor>
      <arglist>(JointDataDerived &amp;data, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;I, const bool update_I) const</arglist>
    </member>
    <member kind="function">
      <type>JointModelTranslationTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>abfd9bcce49bb9b4353db6107d92cc836</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JointDataDerived</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>ae9cff76d9bc94703e10de79d49db84d4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a892d11e04ad40c526f9804d1a3fe7131</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>ada3359bf27f40f01d4c847c55d8043fa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_TYPEDEF_TEMPLATE</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a8727d8500a4f363217e15ffb09dda99d</anchor>
      <arglist>(JointDerived)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a93c87e05f153d783413e518f3ccef8c1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>classname</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a5d56c0274d6689cef15e60ad2804da76</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTranslationTpl&lt; _Scalar, _Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1JointModelTranslationTpl.html</anchorfile>
      <anchor>a01c47c34793ae860f9d002c0f3d13a4e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointModelVoid</name>
    <filename>structpinocchio_1_1JointModelVoid.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointPlanarTpl</name>
    <filename>structpinocchio_1_1JointPlanarTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointPlanarTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointPlanarTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointPrismaticTpl</name>
    <filename>structpinocchio_1_1JointPrismaticTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a57d7c950b27688aed2a42acff8dc04d7ab79cac23a5043271874b8c6425818ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a57d7c950b27688aed2a42acff8dc04d7a1846c98b51a6ef2021e9da96851e7137</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a57d7c950b27688aed2a42acff8dc04d7a1846c98b51a6ef2021e9da96851e7137</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a57d7c950b27688aed2a42acff8dc04d7ab79cac23a5043271874b8c6425818ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a0ab40a0a4615532d212d6cf6e558fa7d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointPrismaticTpl&lt; _Scalar, _Options, axis &gt;</name>
    <filename>structpinocchio_1_1JointPrismaticTpl.html</filename>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a57d7c950b27688aed2a42acff8dc04d7a1846c98b51a6ef2021e9da96851e7137</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a57d7c950b27688aed2a42acff8dc04d7ab79cac23a5043271874b8c6425818ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1JointPrismaticTpl.html</anchorfile>
      <anchor>a0ab40a0a4615532d212d6cf6e558fa7d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointPrismaticUnalignedTpl</name>
    <filename>structpinocchio_1_1JointPrismaticUnalignedTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointPrismaticUnalignedTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointRevoluteTpl</name>
    <filename>structpinocchio_1_1JointRevoluteTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>ad739898fd4ba7807c11ea6aecfeb344aa32bd2cefbfa2787a8297ac16130336df</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>ad739898fd4ba7807c11ea6aecfeb344aa95f1f3e513dcf6f9b746da25fc5fbde4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>ad739898fd4ba7807c11ea6aecfeb344aa95f1f3e513dcf6f9b746da25fc5fbde4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>ad739898fd4ba7807c11ea6aecfeb344aa32bd2cefbfa2787a8297ac16130336df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>adb4195a76b2552d7f5b145a99f9aa45c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointRevoluteTpl&lt; _Scalar, _Options, axis &gt;</name>
    <filename>structpinocchio_1_1JointRevoluteTpl.html</filename>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>ad739898fd4ba7807c11ea6aecfeb344aa95f1f3e513dcf6f9b746da25fc5fbde4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>ad739898fd4ba7807c11ea6aecfeb344aa32bd2cefbfa2787a8297ac16130336df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1JointRevoluteTpl.html</anchorfile>
      <anchor>adb4195a76b2552d7f5b145a99f9aa45c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointRevoluteUnalignedTpl</name>
    <filename>structpinocchio_1_1JointRevoluteUnalignedTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointRevoluteUnalignedTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointRevoluteUnboundedTpl</name>
    <filename>structpinocchio_1_1JointRevoluteUnboundedTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
  </compound>
  <compound kind="class">
    <name>JointRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt;</name>
    <filename>structpinocchio_1_1JointRevoluteUnboundedTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointRevoluteUnboundedUnalignedTpl</name>
    <filename>structpinocchio_1_1JointRevoluteUnboundedUnalignedTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointRevoluteUnboundedUnalignedTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointSphericalTpl</name>
    <filename>structpinocchio_1_1JointSphericalTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointSphericalTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointSphericalTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointSphericalZYXTpl</name>
    <filename>structpinocchio_1_1JointSphericalZYXTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointSphericalZYXTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointSphericalZYXTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointTest</name>
    <filename>structpinocchio_1_1JointTest.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointTpl</name>
    <filename>structpinocchio_1_1JointTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="class">
    <name>JointTpl&lt; _Scalar, _Options, JointCollectionTpl &gt;</name>
    <filename>structpinocchio_1_1JointTpl.html</filename>
  </compound>
  <compound kind="class">
    <name>JointTpl&lt; double, _Options, JointCollectionTpl &gt;</name>
    <filename>structpinocchio_1_1JointTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::JointTranslationTpl</name>
    <filename>structpinocchio_1_1JointTranslationTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="class">
    <name>JointTranslationTpl&lt; _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1JointTranslationTpl.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointUnaryVisitorBase</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <templarg>JointVisitorDerived</templarg>
    <templarg>ReturnType</templarg>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModel</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModel&lt; NoArg, Dummy &gt;</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModelAndData</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase::InternalVisitorModelAndData&lt; JointModel, NoArg &gt;</class>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointUnaryVisitorBase&lt; EmptyForwardStepUnaryVisit&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointUnaryVisitorBase&lt; EmptyForwardStepUnaryVisitNoData&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointUnaryVisitorBase&lt; SimpleUnaryVisitor1 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointUnaryVisitorBase&lt; SimpleUnaryVisitor2 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointUnaryVisitorBase&lt; SimpleUnaryVisitor3 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>JointUnaryVisitorBase&lt; SimpleUnaryVisitor4 &gt;</name>
    <filename>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad7e6d438b1a091fd0f6fe8f8ad12b6e9</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>abe9938516cf4c4a5bfd1e83d91e06574</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a47d07bdf68c25b1ef9922213275262ac</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a03cca49aba03e56a6a929079f43761d1</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, typename JointModelBase&lt; JointModelDerived &gt;::JointDataDerived &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a1f08d249aa7117924228ffbc598464f8</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a6a425a9e338665bd06fd924365f3ffe4</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ab4c825741b06fe9c637ecd07d95cc80a</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a28602c1abee4b95182974c5d42cc8785</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>ad9a21ddaeb7d9b5ea5d98475de57b0be</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>aba030af15befca4a82ae51e313a637a2</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata, ArgsTmp args)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>a967606b335b3ed8b9d662f73ee823003</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointUnaryVisitorBase.html</anchorfile>
      <anchor>af75eba5050b176b736f0b0714c4f9dde</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::JointVariantVisitor</name>
    <filename>structpinocchio_1_1python_1_1JointVariantVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>result_type</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1python_1_1JointVariantVisitor.html</anchorfile>
      <anchor>ae0a5c9b6369ca05f2a5ea1bb88761af5</anchor>
      <arglist>(T const &amp;t) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static result_type</type>
      <name>convert</name>
      <anchorfile>structpinocchio_1_1python_1_1JointVariantVisitor.html</anchorfile>
      <anchor>a8cb7728634e43107694324d343ae19ad</anchor>
      <arglist>(VariantType const &amp;jv)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fusion::JointVisitorBase</name>
    <filename>structpinocchio_1_1fusion_1_1JointVisitorBase.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <base>pinocchio::fusion::JointUnaryVisitorBase</base>
    <member kind="typedef">
      <type>JointUnaryVisitorBase&lt; JointVisitorDerived, ReturnType &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1fusion_1_1JointVisitorBase.html</anchorfile>
      <anchor>a4133b111db8ed8aea5571833d5527377</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::KinovaLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1KinovaLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1KinovaLoader.html</anchorfile>
      <anchor>a7a03490a2b56538dadd4a17d18232444</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1KinovaLoader.html</anchorfile>
      <anchor>a5b3c0127f94fd51a9dd22baf3ea05576</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1KinovaLoader.html</anchorfile>
      <anchor>ab08366e79f92cde98f2c6abf1defb0b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1KinovaLoader.html</anchorfile>
      <anchor>ada6bbbb95a9fe74d1e7b480eeee308af</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::LaikagoLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1LaikagoLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1LaikagoLoader.html</anchorfile>
      <anchor>a6e54c9bbb7c363055e93e686b55329bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1LaikagoLoader.html</anchorfile>
      <anchor>a401092553af24e31595108208b2eca68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1LaikagoLoader.html</anchorfile>
      <anchor>afe98825f67a5af5b81ac081bf4517dd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1LaikagoLoader.html</anchorfile>
      <anchor>a5a3ac3089590a2f6d1a648ae675f8d95</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Launcher</name>
    <filename>structLauncher.html</filename>
    <member kind="typedef">
      <type>bf::vector&lt; const double &amp;, const int &amp;, const Eigen::MatrixXd &amp;, const Eigen::MatrixXd &amp;, const Eigen::MatrixXd &amp;, const TestObj &amp; &gt;</type>
      <name>Args</name>
      <anchorfile>structLauncher.html</anchorfile>
      <anchor>a7a397c0ad27d361501d55dc38e8023e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Launcher</name>
      <anchorfile>structLauncher.html</anchorfile>
      <anchor>ab8d8cb148897912c9e3ada64cb376fb1</anchor>
      <arglist>(Args args)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>operator()</name>
      <anchorfile>structLauncher.html</anchorfile>
      <anchor>ac1c9d5de86a9074c3fbc67b7729f9485</anchor>
      <arglist>(CRTPBase&lt; D &gt; &amp;dref) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>algo</name>
      <anchorfile>structLauncher.html</anchorfile>
      <anchor>a14dce546e6a632e93c56048916514c3e</anchor>
      <arglist>(CRTPBase&lt; D &gt; &amp;crtp, const double &amp;x, const int &amp;y, const Eigen::MatrixXd &amp;z, const Eigen::MatrixXd &amp;, const Eigen::MatrixXd &amp;, const TestObj &amp;a)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>run</name>
      <anchorfile>structLauncher.html</anchorfile>
      <anchor>ad30c921e2116c6ce7ed28a2a92fb432a</anchor>
      <arglist>(CRTPVariant &amp;crtp, Args args)</arglist>
    </member>
    <member kind="variable">
      <type>Args</type>
      <name>args</name>
      <anchorfile>structLauncher.html</anchorfile>
      <anchor>ac7231ad249dc5b55694bb874a2074ede</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp.html</filename>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consb91e86ba62fdf022557dae7421dbbb2e.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consb91e86ba62fdf022557dae7421dbbb2e.html</anchorfile>
      <anchor>a9d7308e8e7556d87b699c1364dd5c2d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consb91e86ba62fdf022557dae7421dbbb2e.html</anchorfile>
      <anchor>a44accf040ef81868e3d18c46a9d8c87f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consb91e86ba62fdf022557dae7421dbbb2e.html</anchorfile>
      <anchor>acb32bf077f4aed895d9f3247e0b3b0b1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consf5705a5bf5e024d00e48090cfc2cfa21.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consf5705a5bf5e024d00e48090cfc2cfa21.html</anchorfile>
      <anchor>aa02ea55489442aa774181bc486b0d666</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consf5705a5bf5e024d00e48090cfc2cfa21.html</anchorfile>
      <anchor>aa5bcbf76d0bb40d4a944f140034117c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consf5705a5bf5e024d00e48090cfc2cfa21.html</anchorfile>
      <anchor>ae856779a5c89c38fe9bce44d0fd2ca1b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const Constraint &amp;cru)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consfee45ed0271c215ee891cb8ca23cee2c.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consfee45ed0271c215ee891cb8ca23cee2c.html</anchorfile>
      <anchor>a73db9e8c4999ad7cf23c0ca816a03493</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consfee45ed0271c215ee891cb8ca23cee2c.html</anchorfile>
      <anchor>ad3535ae33cef69bb0ae3b295441fddfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Consfee45ed0271c215ee891cb8ca23cee2c.html</anchorfile>
      <anchor>afdd9cb90e5f2bb8ccfcb8fc5939a30e5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Cons8e51ba8ef8aa3074b8994ed943a1ecd1.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Cons8e51ba8ef8aa3074b8994ed943a1ecd1.html</anchorfile>
      <anchor>a6e1fd4827f4adce375e493dbbc86e077</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Cons8e51ba8ef8aa3074b8994ed943a1ecd1.html</anchorfile>
      <anchor>ab7a17a9e8daeefd86d331e1088cd91ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Cons8e51ba8ef8aa3074b8994ed943a1ecd1.html</anchorfile>
      <anchor>a1b2e7a3d1d10336befe63c409da3d29a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const Constraint &amp;cru)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Scale31faf7f47ab50cc4ba5d9b7e0e1f9d8.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ScaledConstraint&lt; _Constraint &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Scale31faf7f47ab50cc4ba5d9b7e0e1f9d8.html</anchorfile>
      <anchor>a98374ae3dc31ad1abd5c27984e8e654b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Scale31faf7f47ab50cc4ba5d9b7e0e1f9d8.html</anchorfile>
      <anchor>a3b91c1c50847478d3ae74de1f096114f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01Scale31faf7f47ab50cc4ba5d9b7e0e1f9d8.html</anchorfile>
      <anchor>a9ba942c9eb6aeb0f26b7203fcae86a44</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const Constraint &amp;scaled_constraint)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 0 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain8a3a4376239ebcf26fe575c4eb3a939d.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticTpl&lt; S2, O2, 0 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain8a3a4376239ebcf26fe575c4eb3a939d.html</anchorfile>
      <anchor>a3ac0a8a978fb16717b6d0201784fdea0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain8a3a4376239ebcf26fe575c4eb3a939d.html</anchorfile>
      <anchor>a6904cee052f1dde40759f859c517b147</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain8a3a4376239ebcf26fe575c4eb3a939d.html</anchorfile>
      <anchor>a25e6344a94e8c28976fe6a59024801a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain8a3a4376239ebcf26fe575c4eb3a939d.html</anchorfile>
      <anchor>a3ac754b4e7b24c8fcb7ea2a8fe837bc1</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 1 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraind2b83fb47768b24b84e76ed7438f4087.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticTpl&lt; S2, O2, 1 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraind2b83fb47768b24b84e76ed7438f4087.html</anchorfile>
      <anchor>a1dfcaff3e145b1d4fcda3ed98da8c644</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraind2b83fb47768b24b84e76ed7438f4087.html</anchorfile>
      <anchor>a0a94bb90840179b957d1c19dd2ce44a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraind2b83fb47768b24b84e76ed7438f4087.html</anchorfile>
      <anchor>abbbbb9b5ab73a68fc97a9367e8a08b3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraind2b83fb47768b24b84e76ed7438f4087.html</anchorfile>
      <anchor>a6a6c6ca14c4231d8fbbcdc47f6e97058</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 2 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraine727d925f43b6fcdf1cf2bcf37ae676a.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticTpl&lt; S2, O2, 2 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraine727d925f43b6fcdf1cf2bcf37ae676a.html</anchorfile>
      <anchor>a5173664185ee42c6cc3ead25e8ca365d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraine727d925f43b6fcdf1cf2bcf37ae676a.html</anchorfile>
      <anchor>ace255971e2e6f6cca07154a64e206280</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraine727d925f43b6fcdf1cf2bcf37ae676a.html</anchorfile>
      <anchor>a007817e838ad265ec46052a49a10f937</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraine727d925f43b6fcdf1cf2bcf37ae676a.html</anchorfile>
      <anchor>a21c2cf3a5fd0a6626e792d20d0a4dad4</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain83421a59f616bfe81893996d90acc63a.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain83421a59f616bfe81893996d90acc63a.html</anchorfile>
      <anchor>add96c7600aa5b734fe16d1150aaae653</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain83421a59f616bfe81893996d90acc63a.html</anchorfile>
      <anchor>a9cce2592fb2e654303f51ff4a27a7489</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain83421a59f616bfe81893996d90acc63a.html</anchorfile>
      <anchor>afbb7cabc4c9725975fb9f3a21f743314</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain83421a59f616bfe81893996d90acc63a.html</anchorfile>
      <anchor>ad8852341184c9e9b18a8202b28034fd0</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;cpu)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 0 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrainf9180e7f3a928fb5809feeef48a6b031.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteTpl&lt; S2, O2, 0 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrainf9180e7f3a928fb5809feeef48a6b031.html</anchorfile>
      <anchor>a391041d2bfc235cfb11c7edc44b01d1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrainf9180e7f3a928fb5809feeef48a6b031.html</anchorfile>
      <anchor>ad1de0d8669dd21b1d76bb981ba842c86</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrainf9180e7f3a928fb5809feeef48a6b031.html</anchorfile>
      <anchor>a61547875660b4975a0d803abdcb8bde6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrainf9180e7f3a928fb5809feeef48a6b031.html</anchorfile>
      <anchor>a14099cf92e0d92ea7623bf5332c0503f</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 1 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain9cc3ae006e1331c97c03b07f8376adf3.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteTpl&lt; S2, O2, 1 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain9cc3ae006e1331c97c03b07f8376adf3.html</anchorfile>
      <anchor>a88ca6e51f361c5474cde553ff10c9907</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain9cc3ae006e1331c97c03b07f8376adf3.html</anchorfile>
      <anchor>a1297f8d658208fbf58085913547b51ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain9cc3ae006e1331c97c03b07f8376adf3.html</anchorfile>
      <anchor>a69451e751432bc8b0354891a6c2f9f8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain9cc3ae006e1331c97c03b07f8376adf3.html</anchorfile>
      <anchor>a4e6f5f970e20957d42927357c48acdd4</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 2 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain6a8864c75ce2c9304c91e3d3b532f77c.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteTpl&lt; S2, O2, 2 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain6a8864c75ce2c9304c91e3d3b532f77c.html</anchorfile>
      <anchor>a9e5d5412bf8670face17749b9527fcaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain6a8864c75ce2c9304c91e3d3b532f77c.html</anchorfile>
      <anchor>a9bcf70df3a3ad2819ef3500bb83da42d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain6a8864c75ce2c9304c91e3d3b532f77c.html</anchorfile>
      <anchor>ab258e44fa1eea14222b9c4284ef8dd3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constrain6a8864c75ce2c9304c91e3d3b532f77c.html</anchorfile>
      <anchor>abb5e4bf8560fba81452284f63ae2a5b5</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraincec30bbcefd07428f01fec94e8456577.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraincec30bbcefd07428f01fec94e8456577.html</anchorfile>
      <anchor>a537fbdf4d636d6cc95ba1a3198347d0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraincec30bbcefd07428f01fec94e8456577.html</anchorfile>
      <anchor>a8424c69dd47cb877aafa9d46cf8ca3ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraincec30bbcefd07428f01fec94e8456577.html</anchorfile>
      <anchor>a1df556e1b5dbe362eac5938062357ec3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01Constraincec30bbcefd07428f01fec94e8456577.html</anchorfile>
      <anchor>af5825b52d82f7c0aa47c40b7598281af</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;cru)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</name>
    <filename>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledCon92d51d323e2fc30cd2b71ff7d466c879.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ScaledConstraint&lt; _Constraint &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledCon92d51d323e2fc30cd2b71ff7d466c879.html</anchorfile>
      <anchor>aaeec2dc1c400334ed0810dd04b593a3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledCon92d51d323e2fc30cd2b71ff7d466c879.html</anchorfile>
      <anchor>ae858ae8bfb0ac2d4803d4d4a6923842f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledCon92d51d323e2fc30cd2b71ff7d466c879.html</anchorfile>
      <anchor>a375c32d1376ed7f1a4eca5a07d8d9c6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReturnType</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1impl_1_1LhsMultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledCon92d51d323e2fc30cd2b71ff7d466c879.html</anchorfile>
      <anchor>a5fd58ec0f34f389bd9ccae7fb801cec1</anchor>
      <arglist>(const Inertia &amp;Y, const Constraint &amp;scaled_constraint)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::LHSScalarMultiplication</name>
    <filename>structpinocchio_1_1internal_1_1LHSScalarMultiplication.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1LHSScalarMultiplication.html</anchorfile>
      <anchor>a68d5d2aa0f0d4de2966330dd3a16c513</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::LHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, Scalar &gt;</name>
    <filename>structpinocchio_1_1internal_1_1LHSScalarMultiplication_3_01MotionRef_3_01Vector6ArgType_01_4_00_01Scalar_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::MotionPlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1LHSScalarMultiplication_3_01MotionRef_3_01Vector6ArgType_01_4_00_01Scalar_01_4.html</anchorfile>
      <anchor>ae75b413c3ff6f72ba891e6edfd446923</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroup</name>
    <filename>structpinocchio_1_1LieGroup.html</filename>
    <templarg>JointModel</templarg>
    <member kind="typedef">
      <type>LieGroupMap::operation&lt; JointModel &gt;::type</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroup.html</anchorfile>
      <anchor>a7aefa0672c1e3414555c1400288e6f49</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>LieGroup_Jdifference</name>
    <filename>structLieGroup__Jdifference.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structLieGroup__Jdifference.html</anchorfile>
      <anchor>a4f7dcac3717b5b8f06f8dddb455661ee</anchor>
      <arglist>(const T) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>specificTests</name>
      <anchorfile>structLieGroup__Jdifference.html</anchorfile>
      <anchor>af4ac4a146f4939b1b15e92db16ae03ee</anchor>
      <arglist>(const T) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>specificTests</name>
      <anchorfile>structLieGroup__Jdifference.html</anchorfile>
      <anchor>ac9cbb49efdf350d4b9c2c52ca839bdfb</anchor>
      <arglist>(const SpecialEuclideanOperationTpl&lt; 3, Scalar, Options &gt;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>specificTests</name>
      <anchorfile>structLieGroup__Jdifference.html</anchorfile>
      <anchor>ab019534b483d117face08c32df876a69</anchor>
      <arglist>(const CartesianProductOperation&lt; VectorSpaceOperationTpl&lt; 3, Scalar, Options &gt;, SpecialOrthogonalOperationTpl&lt; 3, Scalar, Options &gt; &gt;) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>LieGroup_Jintegrate</name>
    <filename>structLieGroup__Jintegrate.html</filename>
    <templarg>around_identity</templarg>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structLieGroup__Jintegrate.html</anchorfile>
      <anchor>a02a702736cb51f9f1dfe19f5c591e8fc</anchor>
      <arglist>(const T) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>LieGroup_JintegrateCoeffWise</name>
    <filename>structLieGroup__JintegrateCoeffWise.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structLieGroup__JintegrateCoeffWise.html</anchorfile>
      <anchor>abf6b796f5078dcc9e4880d3271c842b8</anchor>
      <arglist>(const T) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>LieGroup_JintegrateJdifference</name>
    <filename>structLieGroup__JintegrateJdifference.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structLieGroup__JintegrateJdifference.html</anchorfile>
      <anchor>a43b78acb0089167c58110bbe56f7c82f</anchor>
      <arglist>(const T) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupBase</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Derived</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; LieGroupGenericTpl&lt; LieGroupCollection &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGenericTpl&lt; LieGroupCollection &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LieGroupBase&lt; VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupBase.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1748fb703bc14b2bd0fbea171aa2fdfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aad2e196d4731ddcf5d59966a1ae52248</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac9be5c2d6792fec22aef4e1205fa5415</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt;</type>
      <name>LieGroupDerived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a670c2f3db2ba52b49176943691e9a0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138a485632220dde592d0fe96b1e1a11db62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138adf4b33cf1dd0f41e39fc728f3c3c7b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a712cec96b4686b4f69d5bf3b74902138afff0a7fb90a00c9f77c37f963ca03cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroupDerived &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a159e1c7d387478781485ef16a50014aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a81b0fd35f02219d167531e4cf0cad698</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a58479524c0c6e79395f56f7aa0b11882</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>LieGroupBase</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48309f24a3fd2997a538e1ce421e7281</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>LieGroupBase &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afbf98d55f333a3a414b811d56e1def0a</anchor>
      <arglist>(const LieGroupBase &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2104bf30e9bd85da198b2ec93b99e11c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aca54ffe68ec2752d9147a9fabdaa7b6d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad4a118d9d3951358081e34710f730330</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2acb955815d0398f67ab4a1bfe81bdce</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7efa939d7eb8d72ca76c7b5d23191548</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2685b6bdaa54189f8805bbf34d1e506f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>adc7518621c804720ecbb875f723b2d79</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a01b31e8847f19e102e90c997abba9863</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a92a1bc68798ea5d89161788dbed0de89</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a451aa75a9e581437fb4762ac0ff6b1d9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ab71e91ca12835401120793675a2e3ab0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>aa6152321574c45a787ff22dc7c2174ef</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a7f91afa063152b689143fd83b162f33a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>af85d95d7dfc950499b0363825a402e40</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a41fe4be5c558986c3490b3cec09546de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a00d3b70608198846cda8ac7569141d59</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a008677f18770145b44d3f9430ef5cc68</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0e9b30975d5ceaf240ab338046d1ea14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a279af76f16ec0622394b83b8661ba6df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afff00383322abcc6678b666c183bac9f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afecb4045e79189d402f93bab7c34c911</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a029149d2f4132922867db752dbea2133</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a4fdf6dcdac43144061142a28e95b2fbd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a52cad2117b5538815ec120873b4ea3bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a2583e560f39a6924a934b696ba9c368a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a1e5310cfa66a4650687eebb8a50d0bec</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout, const AssignmentOperatorType op=SETTO) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae95d7f186c70de29e759afa32412630b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ae72abda43bf3f61ae0516c4d0898b578</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6a40e22708929e4d8a1cdbb40b438680</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8d80794fa3860944daca002c80b60496</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abc52cab1fcc55687828b8c311c11d6b0</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>abd3d086d1094a2d424fd01bed61b9e0d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a09c11838df555010b1d9ff706aa364ab</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>random</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a15480e32dc93ab2b5709a73c86918f0b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>randomConfiguration</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a6c32716e27a74167b9615dd90ee66022</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit) const</arglist>
    </member>
    <member kind="function">
      <type>TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ad57dd9be555973866a2d028d477759f5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>ac68b60a08f2a6bbdfd20b868d73803ad</anchor>
      <arglist>(const Config_t &amp;q, const Tangent_t &amp;v, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a3a84eca954f86818dd34822df8fe9c04</anchor>
      <arglist>(const ConfigL_t &amp;q0, const ConfigR_t &amp;q1, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a0993df5119d9d3decdcb7b6d3e3b43b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>afa6ef45973cd00a482f1120978be7ef1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34f8452136c153c5b551d790cb6ea89d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9860fbd990ecb965cf2bc0a53b156dd8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a8cf8d44963dca9224ba6a4360979b12f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a27d1415a6abbed188ce528923defc644</anchor>
      <arglist>(const LieGroupBase &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDifferent_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a30e3ead78cc058dfe9167a88d359310e</anchor>
      <arglist>(const LieGroupBase &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a48bbc510787b5ce033616484d9d60377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a999682127ffb84e24319c18b6f5c31e1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a34daeb100495a9f6cd9835caa4c3fbfc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a99efd2066dbb8757bd9fed893b8eb631</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a08e1ff5116dec0215afb888c542a7dbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1LieGroupBase.html</anchorfile>
      <anchor>a9d1b3244e61b0a40c3f3bda6e60c5927</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupCollectionDefaultTpl</name>
    <filename>structpinocchio_1_1LieGroupCollectionDefaultTpl.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupCollectionDefaultTpl.html</anchorfile>
      <anchor>abbef68b4b251a3f8f52467995cdae63fa907bf7a26bfac286bd896268dafa8f16</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variant&lt; SpecialOrthogonalOperationTpl&lt; 2, Scalar, Options &gt;,SpecialOrthogonalOperationTpl&lt; 3, Scalar, Options &gt;,SpecialEuclideanOperationTpl&lt; 2, Scalar, Options &gt;,SpecialEuclideanOperationTpl&lt; 3, Scalar, Options &gt;,VectorSpaceOperationTpl&lt; 1, Scalar, Options &gt;,VectorSpaceOperationTpl&lt; 2, Scalar, Options &gt;,VectorSpaceOperationTpl&lt; 3, Scalar, Options &gt;,VectorSpaceOperationTpl&lt; Eigen::Dynamic, Scalar, Options &gt; &gt;</type>
      <name>LieGroupVariant</name>
      <anchorfile>structpinocchio_1_1LieGroupCollectionDefaultTpl.html</anchorfile>
      <anchor>a3cfbf5cd555ed8835cca21bab8550849</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupCollectionDefaultTpl.html</anchorfile>
      <anchor>abbef68b4b251a3f8f52467995cdae63fa907bf7a26bfac286bd896268dafa8f16</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupCollectionDefaultTpl.html</anchorfile>
      <anchor>ab0a548fa97489d341ef7bdc66118dcb7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupGenericTpl</name>
    <filename>structpinocchio_1_1LieGroupGenericTpl.html</filename>
    <templarg>LieGroupCollection</templarg>
    <base>LieGroupBase&lt; LieGroupGenericTpl&lt; LieGroupCollection &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a59462df64de122921feb0161b21c5f1ba08350300fb074738d535007f8e5d753b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollection::LieGroupVariant</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a626c2127badb139ddcc86548475bded0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollection::LieGroupVariant</type>
      <name>LieGroupVariant</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a60873c82f9f093c53b5ae47a6ba7f394</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a59462df64de122921feb0161b21c5f1ba08350300fb074738d535007f8e5d753b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollection::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>aa36fda89da23441b33cde568b82ff3ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a4d260c66eb3c9a395d8afad89ac9f314</anchor>
      <arglist>(const LieGroupGenericTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LieGroupGenericTpl</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a63e1a21f34f6cac98c5c3973d40005fe</anchor>
      <arglist>(const LieGroupBase&lt; LieGroupDerived &gt; &amp;lg_base)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LieGroupGenericTpl</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a723b7313de0a9a875ffe9fe5bfcb80a6</anchor>
      <arglist>(const LieGroupVariant &amp;lg_variant)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LieGroupGenericTpl</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a96940287abba661f9887b291fa5ad950</anchor>
      <arglist>(const LieGroupGenericTpl &amp;lg_generic)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a407b9954d61d6bc3c8e8c5a43b176d01</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>ac54772a6839613cf82293d9a312736a7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a1498be35b6dc92b9d9727db08eed024d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a44b1f0e0a0a79766f5d2e97c83411b9b</anchor>
      <arglist>(const LieGroupGenericTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>LieGroupGenericTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>ae1af6ff225fa9f00355d05b53ef87495</anchor>
      <arglist>(const LieGroupGenericTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>af210e9fb89128482550d3238cf694fef</anchor>
      <arglist>(const LieGroupGenericTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const LieGroupVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>a7008a4ba44af2dd669504ba9fb71efd7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LieGroupVariant &amp;</type>
      <name>toVariant</name>
      <anchorfile>structpinocchio_1_1LieGroupGenericTpl.html</anchorfile>
      <anchor>aedf55a3d56457e683788986c28301d15</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap</name>
    <filename>structpinocchio_1_1LieGroupMap.html</filename>
    <class kind="struct">pinocchio::LieGroupMap::operation</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::LieGroupMap::operation&lt; JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::LieGroupPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1LieGroupPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupPythonVisitor.html</anchorfile>
      <anchor>a6056f058a7e0ce7bd6bd33780b7e7a7c</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupPythonVisitor.html</anchorfile>
      <anchor>ac66a5d290a91f364609226cdb34e029e</anchor>
      <arglist>(const char *name)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::LieGroupWrapperTpl</name>
    <filename>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, 1 &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a0ae92752a16c63d5c4df6883fbcf01cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>JacobianMatrix_t</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a000d60e3f7519f1e753d108f7c1b1a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, 1 &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a93a70e4ecdd163f9eb7f3841983355d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dDifference1</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>ac349586e3f793a37eb163c9e07d8d0c8</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q0, const ConfigVector_t &amp;q1, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dDifference2</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>ad55c2bb2d6a37d6633a346c323839173</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q0, const ConfigVector_t &amp;q1, const ArgumentPosition arg, const JacobianMatrix_t &amp;Jin, int self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dDifference3</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>aecc67b85318e8433f316d6888be1f6bd</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q0, const ConfigVector_t &amp;q1, const ArgumentPosition arg, int self, const JacobianMatrix_t &amp;Jin)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static TangentVector_t</type>
      <name>difference</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a0e9cf0dc5cdb1d4ed43dfbfad4feb7bd</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q0, const ConfigVector_t &amp;q1)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a24ce960d7bf7fc863c65604fca5dc9d4</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate_dq1</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>ae9f4463281503ab01b36d70c56f3bd68</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate_dq2</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a2097956f17b87bc89e3b66936dfe1a8a</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v, const JacobianMatrix_t &amp;Jin, int self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate_dq3</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>abaecfaacb74c44e15f424a5ae11f439d</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v, int self, const JacobianMatrix_t &amp;Jin)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate_dv1</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>abf44b1091485efea7c5444c3d85efc03</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate_dv2</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>accda0045881093bbb496e0ae4a2dac7d</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v, const JacobianMatrix_t &amp;Jin, int self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrate_dv3</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>ab83cc87e7c83c004940a448f2e3ee993</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v, int self, const JacobianMatrix_t &amp;Jin)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JacobianMatrix_t</type>
      <name>dIntegrateTransport_proxy</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>ae46c9780ce4d0a7af919f0db1b37b5a1</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v, const JacobianMatrix_t &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConfigVector_t</type>
      <name>integrate</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>a93a17e51be596b0b6fa24a4754c4455d</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q, const TangentVector_t &amp;v)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConfigVector_t</type>
      <name>interpolate</name>
      <anchorfile>structpinocchio_1_1python_1_1LieGroupWrapperTpl.html</anchorfile>
      <anchor>aeec9d878e56e303afc7c1db8f21677f9</anchor>
      <arglist>(const LieGroupType &amp;lg, const ConfigVector_t &amp;q0, const ConfigVector_t &amp;q1, const double &amp;u)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LinearAffineTransform</name>
    <filename>structpinocchio_1_1LinearAffineTransform.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1LinearAffineTransform.html</anchorfile>
      <anchor>a5c16a66b04eeefc887bd64ef8670e7ac</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorIn &gt; &amp;q, const Scalar &amp;scaling, const Scalar &amp;offset, const Eigen::MatrixBase&lt; ConfigVectorOut &gt; &amp;dest)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::log3_impl</name>
    <filename>structpinocchio_1_1log3__impl.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::log6_impl</name>
    <filename>structpinocchio_1_1log6__impl.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MatrixMatrixProduct</name>
    <filename>structpinocchio_1_1MatrixMatrixProduct.html</filename>
    <templarg>M1</templarg>
    <templarg>M2</templarg>
    <member kind="typedef">
      <type>Eigen::ProductReturnType&lt; M1, M2 &gt;::Type</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1MatrixMatrixProduct.html</anchorfile>
      <anchor>adf89805f411ed726bd228a16896dc18b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MatrixScalarProduct</name>
    <filename>structpinocchio_1_1MatrixScalarProduct.html</filename>
    <templarg>Matrix</templarg>
    <templarg>Scalar</templarg>
    <member kind="typedef">
      <type>const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_multiple_op&lt; Scalar &gt;, const Matrix &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1MatrixScalarProduct.html</anchorfile>
      <anchor>aaba24e4155c72fbc2d248f7fb348132a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::meshcat_visualizer::MeshcatVisualizer</name>
    <filename>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</filename>
    <member kind="function">
      <type>def</type>
      <name>addGeometryObject</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a69ec3d39099d5e21dc8bfa79a5652829</anchor>
      <arglist>(self, obj, color=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>captureImage</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a4ff5caa74bbba1c53ba68b6c9a483bc0</anchor>
      <arglist>(self, w=None, h=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>clean</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a6cdb62296fa41d57a4237556439cb6a9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>delete</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a40412338b5acae049884dbc6e8c2f1e1</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>disableCameraControl</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a3e012ca3f715ea591fdc45fe364cc632</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a32e7f0898cfaaf7629f39711ed0c6907</anchor>
      <arglist>(self, q=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a24fd483e21cf3bde451403665f082e89</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayVisuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>aa3fb4942898b160ddad68b75e0561c94</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>drawFrameVelocities</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a74ebe32afc304c9be63a8ad16b0daf4e</anchor>
      <arglist>(self, frame_id, v_scale=0.2, color=FRAME_VEL_COLOR)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>enableCameraControl</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a31dd5f24145270edcd04f9dfe2702c71</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getViewerNodeName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>ad4f9bd87b049ceaf04a9fe2a09f62919</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initViewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a870d5ac706ac4f6e34060c407638c687</anchor>
      <arglist>(self, viewer=None, open=False, loadModel=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadMesh</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>abfb1d56ce4573fdf3d4503564d8b7046</anchor>
      <arglist>(self, geometry_object)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerGeometryObject</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a7007d57ee9033bba2ea4f40a8559fa6c</anchor>
      <arglist>(self, geometry_object, geometry_type, color=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerModel</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a175e165950f098c90213301c1129f6f0</anchor>
      <arglist>(self, rootNodeName=&quot;pinocchio&quot;, color=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>reload</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a02b6bccee8fc74fa60d01cdeff6afa3e</anchor>
      <arglist>(self, new_geometry_object, geometry_type=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setBackgroundColor</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a3395d5c7077531427c15283fc9f27c15</anchor>
      <arglist>(self, preset_name=&quot;gray&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraPose</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a65c94ec801431609e5ac5ddd676c585b</anchor>
      <arglist>(self, pose=np.eye(4))</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraPosition</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>adfa996cb12293586d0c0d1a998dc4167</anchor>
      <arglist>(self, position)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraPreset</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>aaa49c6197c84ea4403179d0fdcf7c610</anchor>
      <arglist>(self, preset_key)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraTarget</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a03eff80853bd2d2dd4e85585a15674d5</anchor>
      <arglist>(self, target)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setCameraZoom</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>ad5dfb4f82f77b61cc6ca2c6f25a903b9</anchor>
      <arglist>(self, zoom)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>updatePlacements</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a444a2e7f4ae369cbc6ffd012bc64ed9f</anchor>
      <arglist>(self, geometry_type)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display_collisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>ab713132181f8d98844c5fe17efaf044d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display_visuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a6ec9969fc0bf5ea0da8be794a25deb41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>static_objects</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>aff5d2ae86e23418615ae8c343dab64d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>aefa534156fddb507ba727c73ee745376</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewerCollisionGroupName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a07c0966d7b7e382190e75cd40b468461</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewerRootNodeName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a91e0d936f09567a8b9c9c121654c4d6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewerVisualGroupName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a67565a24e77807bc56920b199f4330b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>dictionary</type>
      <name>CAMERA_PRESETS</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a879b789301cc231ff1d6ecd908e83fba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>float</type>
      <name>FORCE_SCALE</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>ab6746f2d90cb8ba75c71f94f6e35f85e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>int</type>
      <name>FRAME_VEL_COLOR</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a5c24080cec62dc67cc9183fb3b69c339</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_check_meshcat_has_get_image</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a7f6ed292345ffac595956b96d5a487c5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_draw_vectors_from_frame</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>a15007076d7f23c3fc53420ccf19b7ec2</anchor>
      <arglist>(self, vecs, frame_ids, vec_names, colors)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_node_background</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>ac76ac231a67d08e582efc5810dece7f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_node_default_cam</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>ae935325f8fe2dc51637685b5b6e075da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_rot_cam_key</name>
      <anchorfile>classpinocchio_1_1visualize_1_1meshcat__visualizer_1_1MeshcatVisualizer.html</anchorfile>
      <anchor>aca61e1665ad03769fb0ae0cc85109c55</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mobilerobot::MobileRobotWrapper</name>
    <filename>classmobilerobot_1_1MobileRobotWrapper.html</filename>
    <base>pinocchio::robot_wrapper::RobotWrapper</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classmobilerobot_1_1MobileRobotWrapper.html</anchorfile>
      <anchor>ae53665cc629d84cbb3a399a97d76d334</anchor>
      <arglist>(self, urdf, pkgs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classmobilerobot_1_1MobileRobotWrapper.html</anchorfile>
      <anchor>a8140ea980ab1b4cfe2372690dfa8b78f</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initDisplay</name>
      <anchorfile>classmobilerobot_1_1MobileRobotWrapper.html</anchorfile>
      <anchor>aa424e10d2a68a820ffa45769950eeda9</anchor>
      <arglist>(self, loadModel)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classmobilerobot_1_1MobileRobotWrapper.html</anchorfile>
      <anchor>a13ef3f72b462e78d1b1e686c004b1f6f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::ModelPoolPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1ModelPoolPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>ModelPool::Data</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPoolPythonVisitor.html</anchorfile>
      <anchor>afb6f8c3e2bd51975f829f95b8a7cbdb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelPool::DataVector</type>
      <name>DataVector</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPoolPythonVisitor.html</anchorfile>
      <anchor>a375a2b563b6690e68c726b714389880e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelPool::Model</type>
      <name>Model</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPoolPythonVisitor.html</anchorfile>
      <anchor>a2b2590fd490755c9b8f8d5e2a89c2474</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPoolPythonVisitor.html</anchorfile>
      <anchor>a0016858e6cab727c33a04546e549f72d</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPoolPythonVisitor.html</anchorfile>
      <anchor>a9dae6f4111597c46de040ed1144d18b6</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::ModelPoolTpl</name>
    <filename>classpinocchio_1_1ModelPoolTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>aeaaa31fdd32478d604c87a2f34b8a989a75a8775e57e90eb8273acd3c91bd515e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a1beb06e78ca8012dd5c2365d35c4ce9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Data, Eigen::aligned_allocator&lt; Data &gt; &gt;</type>
      <name>DataVector</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>adc7a95a93246af3ce2dbf321fd9b4746</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Model</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>aa7de8f2c30871c85cd056d2bd2ace8fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Model, Eigen::aligned_allocator&lt; Model &gt; &gt;</type>
      <name>ModelVector</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a6d14d5c1d4957e96fce09512fb549849</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>aeaaa31fdd32478d604c87a2f34b8a989a75a8775e57e90eb8273acd3c91bd515e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const Data &amp;</type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>ab3c0ef5133bd3e8bea76ad4d72c85a4a</anchor>
      <arglist>(const size_t index) const</arglist>
    </member>
    <member kind="function">
      <type>Data &amp;</type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>aea58551ceae2b2791fa3dae696810058</anchor>
      <arglist>(const size_t index)</arglist>
    </member>
    <member kind="function">
      <type>const DataVector &amp;</type>
      <name>datas</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a3616b5cdc5c143bf274df1d3cfe95956</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DataVector &amp;</type>
      <name>datas</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a59fd55dc4aa8645e0c33298ea5501ecb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Model &amp;</type>
      <name>model</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a754449f7d1a0f592250da430e086db71</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Model &amp;</type>
      <name>model</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a80b937d27bc123bf2582082b97d5d822</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ModelPoolTpl</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a627324b220544049fce6d0b2c3525676</anchor>
      <arglist>(const Model &amp;model, const int pool_size=omp_get_max_threads())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ModelPoolTpl</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a9cee8aaef25f29e600a38083ce9780f9</anchor>
      <arglist>(const ModelPoolTpl &amp;pool_model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a7ee2ffd31018a50a843ccd59cfba93db</anchor>
      <arglist>(const int new_size)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>size</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a0e3df9281d30b41167c2acadf712b3dc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a98f186548ca6dbd7a0388ea686a21ec0</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a14a885fa3dd38cd567e0b1648fed52da</anchor>
      <arglist>(const Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a2424b0e89e9919268c43d31abda9faa9</anchor>
      <arglist>(const Model &amp;model, const Data &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ModelPoolTpl</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a21832b70d6a1f8763b02dfb33e8ed330</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar</type>
      <name>Scalar</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a9277a8872d1d340f8dd1e83f9e6c4e90</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>do_resize</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a3b3c0e017df2775ac9f5460e136a339d</anchor>
      <arglist>(const int new_size)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DataVector</type>
      <name>m_datas</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a838d24595b88a24e813ca3ae388bada2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Model</type>
      <name>m_model</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>aed42d24eb105d03cd6385954db1326ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_size</name>
      <anchorfile>classpinocchio_1_1ModelPoolTpl.html</anchorfile>
      <anchor>a16648628cad82fdecc73bb7e027c39a0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::ModelPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1ModelPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>Model::Data</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a5e7f7e8a82a7b8b8d1d0d20a7a88ae1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::Force</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a1e1409195a6893ab9a4ca9321047669d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::Frame</type>
      <name>Frame</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>ae9a1206c8a26329a49c7b6c90c146c20</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::FrameIndex</type>
      <name>FrameIndex</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a5c8e7758eae9d9d05e1b036bca2ff7a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::Index</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a67c70ff73da131e7fec34190a75142d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::IndexVector</type>
      <name>IndexVector</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a0c14d61d09a002c8cff21500fe0dac32</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::Inertia</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>aa0022601956fc78fbbc58b9a55012602</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a3840d8510e077c5d43c148d82b3d907e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::Motion</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a3ce79139c8f7fde9e2a206dced1f4503</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>ae2e5d4454087966dba8f4f47520e6941</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::SE3</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a1a66d993d7d8e4b3837f889c19aacc6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Model::VectorXs</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>ad1f2705defd3dafdcdf997d1c32fa058</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>aed3bb1f38d45857fd167031b2293aa53</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointIndex</type>
      <name>addJoint0</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>aae5f26c03cb02c85345b93e7642dcc5b</anchor>
      <arglist>(Model &amp;model, JointIndex parent_id, const JointModel &amp;jmodel, const SE3 &amp;joint_placement, const std::string &amp;joint_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointIndex</type>
      <name>addJoint1</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a0213dffd264f10720b7e3b6fa6a53ef9</anchor>
      <arglist>(Model &amp;model, JointIndex parent_id, const JointModel &amp;jmodel, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointIndex</type>
      <name>addJoint2</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>af4eb6757c08f71adfbce692e64987af9</anchor>
      <arglist>(Model &amp;model, JointIndex parent_id, const JointModel &amp;jmodel, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config, const VectorXs &amp;friction, const VectorXs &amp;damping)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data</type>
      <name>createData</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a0366f22d7d240732386a024065625172</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>a9fd956d0e41d71d5b56b1a75ea345453</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>index</name>
      <anchorfile>structpinocchio_1_1python_1_1ModelPythonVisitor.html</anchorfile>
      <anchor>af99772fa15778295fd07b8132144ed73</anchor>
      <arglist>(std::vector&lt; T &gt; const &amp;x, typename std::vector&lt; T &gt;::value_type const &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ModelTpl</name>
    <filename>structpinocchio_1_1ModelTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <base>Serializable&lt; ModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a393fef2b8313738c5750bdb891ab3080ad27bbf39d7f78f977064dd254af81fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::map&lt; std::string, ConfigVectorType &gt;</type>
      <name>ConfigVectorMap</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af1c4711c66461613aeaafd7992dd82f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>ConfigVectorType</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9447000bf75e1c4a6c37608f0b17c2ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3b507e19d4abeabb397fc2037b21aa00</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a542dd0a241587b9f883700da1ca2bee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; Scalar, Options &gt;</type>
      <name>Frame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6a7f5995e51f8a637f0b5cbbaba359fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::FrameIndex</type>
      <name>FrameIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acc98d9ef139855ee389d7c105af574d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::GeomIndex</type>
      <name>GeomIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a87c2fc9f8c611cb1903af519317e75c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Index</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a72d6876566216323d721d49e5d6c6390</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Index &gt;</type>
      <name>IndexVector</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af553384ea3be9bd8e9de0e20ee2dbc29</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aba6dcd5742e95384c631c5e826447ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af973140f1d57ebfea884788694b10372</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a73e0bf27c96658f279cca764af5a622d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2cac9cc95138e15e08f3ad7a615e92e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModel</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a99b9e98b85e3afa157a16d2b39c4eba7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aaad3d9902e2f68b9fadd98fafcb43522</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a393fef2b8313738c5750bdb891ab3080ad27bbf39d7f78f977064dd254af81fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a859794f246cc6e5ba764f9d89875194c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>TangentVectorType</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae8d55f4b3a986f783e7a47e5f004034e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ac8f9df3f067aabf02bb9cc7fb6171155</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a160ad81a4836c11dd368f82722236408</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addBodyFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7ebdc32b38759010b8695f0d687864e6</anchor>
      <arglist>(const std::string &amp;body_name, const JointIndex &amp;parentJoint, const SE3 &amp;body_placement=SE3::Identity(), int previousFrame=-1)</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae89f680e23e2ba9dac0874eb91e0f76d</anchor>
      <arglist>(const Frame &amp;frame, const bool append_inertia=true)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa9979f70f8b6655309d44fbc7a86c300</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ab64d8931d2ac73f887b853f9a4abc376</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a035fc462190c7bd93ba7dc09c8bc07a7</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config, const VectorXs &amp;friction, const VectorXs &amp;damping)</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addJointFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2d0fc8c6b6c899cc3d1c98e770a29ab9</anchor>
      <arglist>(const JointIndex &amp;joint_index, int previous_frame_index=-1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendBodyToJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae4980f42cbb15df3ec3132f4b1f4d1e2</anchor>
      <arglist>(const JointIndex joint_index, const Inertia &amp;Y, const SE3 &amp;body_placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3fd18a3f1dce2744980d1efabbc34c77</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a64b3f5bf1f7e3274a0b2ff36e3632ce0</anchor>
      <arglist>(const AlgorithmCheckerBase&lt; D &gt; &amp;checker=AlgorithmCheckerBase&lt; D &gt;()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3edf5855f74cb613002cec33b754e0f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>abab72598aefea3e752c68278c915b536</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existBodyName</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a28d4dd370f67ee6cd783591558d975ab</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a628ccb8138fa9dfe5afb29c307a212b3</anchor>
      <arglist>(const std::string &amp;name, const FrameType &amp;type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existJointName</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa8393cdd2f40564930324f3697099044</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>getBodyId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a233d240c55b362dcdc5126b07b1e11e9</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>getFrameId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a21e03a2eb45e73caec710fc5b6b900a8</anchor>
      <arglist>(const std::string &amp;name, const FrameType &amp;type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>getJointId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a08dfa70e668a7bbb896d71423a740e1a</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a1438f462cc07ec2b2b12e3ab6ac85adf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>afc8f3b4f59d5f3e63bf4dec960d3b454</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ModelTpl</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa12147c7b2c41f53b0cd1e0e513dc7a7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a13ffbf8f44ad494f7aa80a7661420229</anchor>
      <arglist>(const ModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae3d242639fad599c78f573b91288179c</anchor>
      <arglist>(const ModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aaf937f4498989cba5f5e488944f86710</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>affa088387f5a1ae9fdf7be3e56cb124d</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6946a249cbe01fe1288ed3865f7e299c</anchor>
      <arglist>(Frame) FrameVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aabb8a40796fc2cf8b15b530c264191f4</anchor>
      <arglist>(Inertia) inertias</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa3b31dbd9bd8d0b16865bcadaa320c59</anchor>
      <arglist>(SE3) jointPlacements</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ModelTpl</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ad055aa940e7afe79c97d2b9f37c5a12b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>damping</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a738eba7a1497d74e6a86118d3482151a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>effortLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3be8916156c2fbe9e70e2b7a0eb0b4d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FrameVector</type>
      <name>frames</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a88a8d7c594d7212f29cc9959edabc29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>friction</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acba4e9809b9294745be01d98e5edd3b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion</type>
      <name>gravity</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3da88e0fb43fb507cd000e93bcebbfa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>idx_qs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a4fd16c4be15d5922fd07f86d5e1110f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>idx_vs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa862d02a733a85011f4e6a7c29106e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointModelVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acc7882bc7151f60aef59b5fb20050095</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorType</type>
      <name>lowerPositionLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a57becea8d0eb19110fd1f90721ad1c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a53a4c7a77c75b556499d3453b1c02cf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::string &gt;</type>
      <name>names</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6ac9b6b2acf93f0b1284ec44dc8dfc6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nbodies</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9784d26c43eb299e8e36e0aaa8adaf0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nframes</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6f460e641f2a542add6942d9cc11eabe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>njoints</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aea202c5f384f6f79a66a38ec395d966a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a8234cf5cbc4cae702d209564221da2f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nqs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7e548c747c7fdc33fc1034034b05baa0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7e3c477adff830971e5683c731c923b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a0fea217f935be0e45adb66ccf0699047</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; JointIndex &gt;</type>
      <name>parents</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a4590365fa68bd19a2d3ad1b4fd8837ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorMap</type>
      <name>referenceConfigurations</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9ebf41a233aee181ec644296af9e70a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>rotorGearRatio</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a884b5e583fc732291da135b7ea66eb16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>rotorInertia</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a56ed170b82d44ad73605e255929132ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a151b5a04a80c653cb2784fce82e024ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IndexVector &gt;</type>
      <name>subtrees</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2b8b4e3efc02c6527aa41973e39a9c58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IndexVector &gt;</type>
      <name>supports</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6251786f0cd971fd768b1f60a22bee93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorType</type>
      <name>upperPositionLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa940ddfde5baf42fb1757a0743a7e615</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>velocityLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a88b46c0cd714f3d6dbb21393809e7980</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const Vector3</type>
      <name>gravity981</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ad40771519009d5a9747b39c5db1280da</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addJointIndexToParentSubtrees</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a332f7af13ea10d69798e06135dcd7101</anchor>
      <arglist>(const JointIndex joint_id)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ModelTpl&lt; ADScalar, Options &gt;</name>
    <filename>structpinocchio_1_1ModelTpl.html</filename>
    <base>Serializable&lt; ModelTpl&lt; ADScalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>std::map&lt; std::string, ConfigVectorType &gt;</type>
      <name>ConfigVectorMap</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af1c4711c66461613aeaafd7992dd82f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>ConfigVectorType</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9447000bf75e1c4a6c37608f0b17c2ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3b507e19d4abeabb397fc2037b21aa00</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a542dd0a241587b9f883700da1ca2bee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; Scalar, Options &gt;</type>
      <name>Frame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6a7f5995e51f8a637f0b5cbbaba359fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::FrameIndex</type>
      <name>FrameIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acc98d9ef139855ee389d7c105af574d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::GeomIndex</type>
      <name>GeomIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a87c2fc9f8c611cb1903af519317e75c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Index</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a72d6876566216323d721d49e5d6c6390</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Index &gt;</type>
      <name>IndexVector</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af553384ea3be9bd8e9de0e20ee2dbc29</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aba6dcd5742e95384c631c5e826447ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af973140f1d57ebfea884788694b10372</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a73e0bf27c96658f279cca764af5a622d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2cac9cc95138e15e08f3ad7a615e92e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModel</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a99b9e98b85e3afa157a16d2b39c4eba7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aaad3d9902e2f68b9fadd98fafcb43522</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a393fef2b8313738c5750bdb891ab3080ad27bbf39d7f78f977064dd254af81fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a859794f246cc6e5ba764f9d89875194c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>TangentVectorType</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae8d55f4b3a986f783e7a47e5f004034e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ac8f9df3f067aabf02bb9cc7fb6171155</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a160ad81a4836c11dd368f82722236408</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addBodyFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7ebdc32b38759010b8695f0d687864e6</anchor>
      <arglist>(const std::string &amp;body_name, const JointIndex &amp;parentJoint, const SE3 &amp;body_placement=SE3::Identity(), int previousFrame=-1)</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae89f680e23e2ba9dac0874eb91e0f76d</anchor>
      <arglist>(const Frame &amp;frame, const bool append_inertia=true)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa9979f70f8b6655309d44fbc7a86c300</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ab64d8931d2ac73f887b853f9a4abc376</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a035fc462190c7bd93ba7dc09c8bc07a7</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config, const VectorXs &amp;friction, const VectorXs &amp;damping)</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addJointFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2d0fc8c6b6c899cc3d1c98e770a29ab9</anchor>
      <arglist>(const JointIndex &amp;joint_index, int previous_frame_index=-1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendBodyToJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae4980f42cbb15df3ec3132f4b1f4d1e2</anchor>
      <arglist>(const JointIndex joint_index, const Inertia &amp;Y, const SE3 &amp;body_placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3fd18a3f1dce2744980d1efabbc34c77</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a64b3f5bf1f7e3274a0b2ff36e3632ce0</anchor>
      <arglist>(const AlgorithmCheckerBase&lt; D &gt; &amp;checker=AlgorithmCheckerBase&lt; D &gt;()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3edf5855f74cb613002cec33b754e0f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>abab72598aefea3e752c68278c915b536</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existBodyName</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a28d4dd370f67ee6cd783591558d975ab</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a628ccb8138fa9dfe5afb29c307a212b3</anchor>
      <arglist>(const std::string &amp;name, const FrameType &amp;type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existJointName</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa8393cdd2f40564930324f3697099044</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>getBodyId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a233d240c55b362dcdc5126b07b1e11e9</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>getFrameId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a21e03a2eb45e73caec710fc5b6b900a8</anchor>
      <arglist>(const std::string &amp;name, const FrameType &amp;type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>getJointId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a08dfa70e668a7bbb896d71423a740e1a</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a1438f462cc07ec2b2b12e3ab6ac85adf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>afc8f3b4f59d5f3e63bf4dec960d3b454</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ModelTpl</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa12147c7b2c41f53b0cd1e0e513dc7a7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a13ffbf8f44ad494f7aa80a7661420229</anchor>
      <arglist>(const ModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae3d242639fad599c78f573b91288179c</anchor>
      <arglist>(const ModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aaf937f4498989cba5f5e488944f86710</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>affa088387f5a1ae9fdf7be3e56cb124d</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6946a249cbe01fe1288ed3865f7e299c</anchor>
      <arglist>(Frame) FrameVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aabb8a40796fc2cf8b15b530c264191f4</anchor>
      <arglist>(Inertia) inertias</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa3b31dbd9bd8d0b16865bcadaa320c59</anchor>
      <arglist>(SE3) jointPlacements</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ModelTpl</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ad055aa940e7afe79c97d2b9f37c5a12b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>damping</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a738eba7a1497d74e6a86118d3482151a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>effortLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3be8916156c2fbe9e70e2b7a0eb0b4d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FrameVector</type>
      <name>frames</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a88a8d7c594d7212f29cc9959edabc29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>friction</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acba4e9809b9294745be01d98e5edd3b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion</type>
      <name>gravity</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3da88e0fb43fb507cd000e93bcebbfa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>idx_qs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a4fd16c4be15d5922fd07f86d5e1110f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>idx_vs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa862d02a733a85011f4e6a7c29106e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointModelVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acc7882bc7151f60aef59b5fb20050095</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorType</type>
      <name>lowerPositionLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a57becea8d0eb19110fd1f90721ad1c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a53a4c7a77c75b556499d3453b1c02cf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::string &gt;</type>
      <name>names</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6ac9b6b2acf93f0b1284ec44dc8dfc6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nbodies</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9784d26c43eb299e8e36e0aaa8adaf0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nframes</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6f460e641f2a542add6942d9cc11eabe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>njoints</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aea202c5f384f6f79a66a38ec395d966a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a8234cf5cbc4cae702d209564221da2f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nqs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7e548c747c7fdc33fc1034034b05baa0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7e3c477adff830971e5683c731c923b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a0fea217f935be0e45adb66ccf0699047</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; JointIndex &gt;</type>
      <name>parents</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a4590365fa68bd19a2d3ad1b4fd8837ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorMap</type>
      <name>referenceConfigurations</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9ebf41a233aee181ec644296af9e70a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>rotorGearRatio</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a884b5e583fc732291da135b7ea66eb16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>rotorInertia</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a56ed170b82d44ad73605e255929132ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ADScalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a151b5a04a80c653cb2784fce82e024ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IndexVector &gt;</type>
      <name>subtrees</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2b8b4e3efc02c6527aa41973e39a9c58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IndexVector &gt;</type>
      <name>supports</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6251786f0cd971fd768b1f60a22bee93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorType</type>
      <name>upperPositionLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa940ddfde5baf42fb1757a0743a7e615</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>velocityLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a88b46c0cd714f3d6dbb21393809e7980</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const Vector3</type>
      <name>gravity981</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ad40771519009d5a9747b39c5db1280da</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addJointIndexToParentSubtrees</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a332f7af13ea10d69798e06135dcd7101</anchor>
      <arglist>(const JointIndex joint_id)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</name>
    <filename>structpinocchio_1_1ModelTpl.html</filename>
    <base>Serializable&lt; ModelTpl&lt; Scalar, _Options, JointCollectionTpl &gt; &gt;</base>
    <member kind="typedef">
      <type>std::map&lt; std::string, ConfigVectorType &gt;</type>
      <name>ConfigVectorMap</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af1c4711c66461613aeaafd7992dd82f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>ConfigVectorType</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9447000bf75e1c4a6c37608f0b17c2ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>Data</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3b507e19d4abeabb397fc2037b21aa00</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a542dd0a241587b9f883700da1ca2bee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; Scalar, Options &gt;</type>
      <name>Frame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6a7f5995e51f8a637f0b5cbbaba359fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::FrameIndex</type>
      <name>FrameIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acc98d9ef139855ee389d7c105af574d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::GeomIndex</type>
      <name>GeomIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a87c2fc9f8c611cb1903af519317e75c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Index</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a72d6876566216323d721d49e5d6c6390</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Index &gt;</type>
      <name>IndexVector</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af553384ea3be9bd8e9de0e20ee2dbc29</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aba6dcd5742e95384c631c5e826447ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>af973140f1d57ebfea884788694b10372</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointData</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a73e0bf27c96658f279cca764af5a622d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::JointIndex</type>
      <name>JointIndex</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2cac9cc95138e15e08f3ad7a615e92e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModel</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a99b9e98b85e3afa157a16d2b39c4eba7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aaad3d9902e2f68b9fadd98fafcb43522</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a393fef2b8313738c5750bdb891ab3080ad27bbf39d7f78f977064dd254af81fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a859794f246cc6e5ba764f9d89875194c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorXs</type>
      <name>TangentVectorType</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae8d55f4b3a986f783e7a47e5f004034e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ac8f9df3f067aabf02bb9cc7fb6171155</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>VectorXs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a160ad81a4836c11dd368f82722236408</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addBodyFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7ebdc32b38759010b8695f0d687864e6</anchor>
      <arglist>(const std::string &amp;body_name, const JointIndex &amp;parentJoint, const SE3 &amp;body_placement=SE3::Identity(), int previousFrame=-1)</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae89f680e23e2ba9dac0874eb91e0f76d</anchor>
      <arglist>(const Frame &amp;frame, const bool append_inertia=true)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa9979f70f8b6655309d44fbc7a86c300</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ab64d8931d2ac73f887b853f9a4abc376</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>addJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a035fc462190c7bd93ba7dc09c8bc07a7</anchor>
      <arglist>(const JointIndex parent, const JointModel &amp;joint_model, const SE3 &amp;joint_placement, const std::string &amp;joint_name, const VectorXs &amp;max_effort, const VectorXs &amp;max_velocity, const VectorXs &amp;min_config, const VectorXs &amp;max_config, const VectorXs &amp;friction, const VectorXs &amp;damping)</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>addJointFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2d0fc8c6b6c899cc3d1c98e770a29ab9</anchor>
      <arglist>(const JointIndex &amp;joint_index, int previous_frame_index=-1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendBodyToJoint</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae4980f42cbb15df3ec3132f4b1f4d1e2</anchor>
      <arglist>(const JointIndex joint_index, const Inertia &amp;Y, const SE3 &amp;body_placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; NewScalar, Options, JointCollectionTpl &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3fd18a3f1dce2744980d1efabbc34c77</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a64b3f5bf1f7e3274a0b2ff36e3632ce0</anchor>
      <arglist>(const AlgorithmCheckerBase&lt; D &gt; &amp;checker=AlgorithmCheckerBase&lt; D &gt;()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3edf5855f74cb613002cec33b754e0f8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>check</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>abab72598aefea3e752c68278c915b536</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existBodyName</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a28d4dd370f67ee6cd783591558d975ab</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existFrame</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a628ccb8138fa9dfe5afb29c307a212b3</anchor>
      <arglist>(const std::string &amp;name, const FrameType &amp;type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>existJointName</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa8393cdd2f40564930324f3697099044</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>getBodyId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a233d240c55b362dcdc5126b07b1e11e9</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>FrameIndex</type>
      <name>getFrameId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a21e03a2eb45e73caec710fc5b6b900a8</anchor>
      <arglist>(const std::string &amp;name, const FrameType &amp;type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>getJointId</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a08dfa70e668a7bbb896d71423a740e1a</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a1438f462cc07ec2b2b12e3ab6ac85adf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>afc8f3b4f59d5f3e63bf4dec960d3b454</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ModelTpl</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa12147c7b2c41f53b0cd1e0e513dc7a7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a13ffbf8f44ad494f7aa80a7661420229</anchor>
      <arglist>(const ModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ae3d242639fad599c78f573b91288179c</anchor>
      <arglist>(const ModelTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aaf937f4498989cba5f5e488944f86710</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>affa088387f5a1ae9fdf7be3e56cb124d</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6946a249cbe01fe1288ed3865f7e299c</anchor>
      <arglist>(Frame) FrameVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aabb8a40796fc2cf8b15b530c264191f4</anchor>
      <arglist>(Inertia) inertias</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa3b31dbd9bd8d0b16865bcadaa320c59</anchor>
      <arglist>(SE3) jointPlacements</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ModelTpl</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ad055aa940e7afe79c97d2b9f37c5a12b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>damping</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a738eba7a1497d74e6a86118d3482151a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>effortLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3be8916156c2fbe9e70e2b7a0eb0b4d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FrameVector</type>
      <name>frames</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a88a8d7c594d7212f29cc9959edabc29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>friction</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acba4e9809b9294745be01d98e5edd3b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion</type>
      <name>gravity</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a3da88e0fb43fb507cd000e93bcebbfa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>idx_qs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a4fd16c4be15d5922fd07f86d5e1110f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>idx_vs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa862d02a733a85011f4e6a7c29106e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointModelVector</type>
      <name>joints</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>acc7882bc7151f60aef59b5fb20050095</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorType</type>
      <name>lowerPositionLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a57becea8d0eb19110fd1f90721ad1c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a53a4c7a77c75b556499d3453b1c02cf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::string &gt;</type>
      <name>names</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6ac9b6b2acf93f0b1284ec44dc8dfc6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nbodies</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9784d26c43eb299e8e36e0aaa8adaf0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nframes</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6f460e641f2a542add6942d9cc11eabe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>njoints</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aea202c5f384f6f79a66a38ec395d966a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a8234cf5cbc4cae702d209564221da2f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nqs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7e548c747c7fdc33fc1034034b05baa0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a7e3c477adff830971e5683c731c923b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>nvs</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a0fea217f935be0e45adb66ccf0699047</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; JointIndex &gt;</type>
      <name>parents</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a4590365fa68bd19a2d3ad1b4fd8837ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorMap</type>
      <name>referenceConfigurations</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a9ebf41a233aee181ec644296af9e70a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>rotorGearRatio</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a884b5e583fc732291da135b7ea66eb16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>rotorInertia</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a56ed170b82d44ad73605e255929132ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a151b5a04a80c653cb2784fce82e024ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IndexVector &gt;</type>
      <name>subtrees</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a2b8b4e3efc02c6527aa41973e39a9c58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IndexVector &gt;</type>
      <name>supports</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a6251786f0cd971fd768b1f60a22bee93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ConfigVectorType</type>
      <name>upperPositionLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>aa940ddfde5baf42fb1757a0743a7e615</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TangentVectorType</type>
      <name>velocityLimit</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a88b46c0cd714f3d6dbb21393809e7980</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const Vector3</type>
      <name>gravity981</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>ad40771519009d5a9747b39c5db1280da</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addJointIndexToParentSubtrees</name>
      <anchorfile>structpinocchio_1_1ModelTpl.html</anchorfile>
      <anchor>a332f7af13ea10d69798e06135dcd7101</anchor>
      <arglist>(const JointIndex joint_id)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>simple_model::ModelWrapper</name>
    <filename>classsimple__model_1_1ModelWrapper.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a144ab605835eb71411228d52884dd3e9</anchor>
      <arglist>(self, name=None, display=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_joint</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a0c806e0e9f31b145c3ef7e8d6c320a14</anchor>
      <arglist>(self, joint_name, joint_model=None, joint_placement=None, lever=None, shape=&quot;box&quot;, dimensions=1, mass=None, body_color=1, parent=0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_joints</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a610707318c4b61c11708e29fea7ef818</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>place</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a4d0b1cf5ec466e654071bc9a659ecc7c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a1786483c77684f69c79aa7a59675c158</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>acf9421a19e57b19601cf34688dec41e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>ae10dbccb7761fb4963e2086935cddb38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a6e97880011422801ebf488834c44ebeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visuals</name>
      <anchorfile>classsimple__model_1_1ModelWrapper.html</anchorfile>
      <anchor>a522f6e7005ac8b9efac72fcaae8f0eb5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction</name>
    <filename>structpinocchio_1_1MotionAlgebraAction.html</filename>
    <templarg>D</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>D</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction.html</anchorfile>
      <anchor>a7a133ac7f85b8510e887c56dd54b8a44</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; BiasZeroTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01BiasZeroTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>BiasZeroTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01BiasZeroTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a1d1523e500bed80c449594df72941cf7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintIdentityTpl&lt; S1, O1 &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintIdentityTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>SE3Tpl&lt; S1, O1 &gt;::ActionMatrixType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintIdentityTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a0ee6b9cb2ee7496b11b75ff8166e68c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintPlanarTpl&lt; S1, O1 &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintPlanarTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintPlanarTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a7970e2d0a43c5f0d0faa4ba157da8252</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01a5ca05beccc9c8acdbeb74af6130a4bbc.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01a5ca05beccc9c8acdbeb74af6130a4bbc.html</anchorfile>
      <anchor>a76155beb1274f2d874126ee48643bed5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a6e2045a1a3ddd8787d7d89ed47cf59b2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>ab02812315d62a0cf3876500cdf7d64db</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a320a35d79b8f787a4b934ca4bac93056</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintSphericalTpl&lt; S1, O1 &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintSphericalTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintSphericalTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a513a56fe8c7866b33330c9c232849013</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintSphericalZYXTpl&lt; S1, O1 &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintSphericalZYXTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintSphericalZYXTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>aa66a279e4ae23e41ee1662016967abf0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintTpl&lt; Dim, Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintTpl_3_01Dim_00_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Dim &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintTpl_3_01Dim_00_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>ac5c5ea0cd0d8389aa38d57bf4c6e632b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ConstraintTranslationTpl&lt; S1, O1 &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintTranslationTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ConstraintTranslationTpl_3_01S1_00_01O1_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>acc4db8b087d471151db9178c60078b8d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ForceDense&lt; Derived &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ForceDense_3_01Derived_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionAlgebraAction&lt; Derived, MotionDerived &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ForceDense_3_01Derived_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>aaf8e1144ef286504d3de8466d8e770b2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ForceRef&lt; Vector6ArgType &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ForceRef_3_01Vector6ArgType_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>traits&lt; ForceRef&lt; Vector6ArgType &gt; &gt;::ForcePlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ForceRef_3_01Vector6ArgType_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>aec0168ce881f8633bfb7dd74ea744cb9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionDense&lt; Derived &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionDense_3_01Derived_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionAlgebraAction&lt; Derived, MotionDerived &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionDense_3_01Derived_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>afb871917fa4b45f187497bc903d1f0bf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionPlanarTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionPlanarTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionPlanarTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>ab359cb6fdc5076892c4a8bdab6566786</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionPrismaticTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>adc35e1d8f5c58f39026e84524ecf08cb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a20972aaea7399c6c0fc1a5bea2b37c85</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionRef&lt; Vector6ArgType &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionRef_3_01Vector6ArgType_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::MotionPlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionRef_3_01Vector6ArgType_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>adbecd655f46c7967fe1b3091361b0e2a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionRevoluteTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>ab6d7655fbaa55b613a61e0648d94bb6a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a0fde6f3fc5cc34907bf9c9fdd2e02ee4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionSphericalTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionSphericalTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionSphericalTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>aa7208833bfa68dcac556c905bfab8843</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionTranslationTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionTranslationTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionTranslationTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a6eb03667cf16f0883841d99fa427fecb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; MotionZeroTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01MotionZeroTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01MotionZeroTpl_3_01Scalar_00_01Options_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a162c3eed258e505b41425b8890d8cde1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; ScaledConstraint&lt; Constraint &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01ScaledConstraint_3_01Constraint_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionAlgebraAction&lt; Constraint, MotionDerived &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01ScaledConstraint_3_01Constraint_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>a974fa9c4718b4e27ac490413fbb978c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionAlgebraAction&lt; SpatialAxis&lt; axis &gt;, MotionDerived &gt;</name>
    <filename>structpinocchio_1_1MotionAlgebraAction_3_01SpatialAxis_3_01axis_01_4_00_01MotionDerived_01_4.html</filename>
    <templarg>axis</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MotionDerived::MotionPlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MotionAlgebraAction_3_01SpatialAxis_3_01axis_01_4_00_01MotionDerived_01_4.html</anchorfile>
      <anchor>af7737d6ce2096a7315b8a6fbb71112bd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::MotionBase</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, Derived &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const Derived &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; Derived, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; Derived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; Derived &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; Derived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; Derived &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Derived</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; Derived &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionPlanarTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionPlanarTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlanarTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionRef&lt; const Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionRef&lt; const Vector6ArgType &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionRef&lt; const Vector6ArgType &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionRef&lt; const Vector6ArgType &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionRef&lt; Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionRef&lt; Vector6ArgType &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionSphericalTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionSphericalTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionSphericalTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionTpl&lt; _Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionTpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionTpl&lt; Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionTpl&lt; Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionTpl&lt; Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionTranslationTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionTranslationTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl&lt; _Scalar, _Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, MotionZeroTpl&lt; Scalar, Options &gt; &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MotionZeroTpl&lt; Scalar, Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const MotionZeroTpl&lt; Scalar, Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(MotionZeroTpl&lt; Scalar, Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionZeroTpl&lt; Scalar, Options &gt;, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; pinocchio::MotionRef &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, pinocchio::MotionRef &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const pinocchio::MotionRef &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const pinocchio::MotionRef &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(pinocchio::MotionRef)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; pinocchio::MotionRef, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionRef &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionRef &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionRef &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionRef &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionRef &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionRef &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; pinocchio::MotionRef &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionBase&lt; pinocchio::MotionTpl &gt;</name>
    <filename>classpinocchio_1_1MotionBase.html</filename>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2045c0daec4bfe64ac105c21ec477a0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a1ed4462b8a4b4d5842d706ca850c4ea2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7f597e7310b287e0bb93e943ae0cd55a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; OtherSpatialType, pinocchio::MotionTpl &gt;::ReturnType</type>
      <name>cross</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace3da6c7bb84f1a3801f9d42119e81fa</anchor>
      <arglist>(const OtherSpatialType &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4d02ec8df7479e9d67735a0921813919</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const pinocchio::MotionTpl &amp;</type>
      <name>derived</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5c59db48747195842ea8b78847233c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a4eb07b9a48d112639022552dc067f464</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a796362962633c86d1de6d6c69b842a9a</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>affbd39e81d155b75901d04607f289b7a</anchor>
      <arglist>(const pinocchio::MotionTpl &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ac15fbb37daf26452c4f13491dae20fee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af36d2d067d12742c12a97a49e18d2d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aea237173e622bcc19e74b02365c585d0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a85096f995ae12cbb06835794eabf03d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>acff2de6218624e14935941cfcf6fa92a</anchor>
      <arglist>(pinocchio::MotionTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>abf3dcdf769bc80fadcb1f3d6256f090a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainReturnType</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>afac004aefe66f21b7e8f8f1e071aaf05</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Vector6</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa132e7e6212c15e58d69c72414b64c9f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a74d3803247f4bd678316a2c82c3c5941</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; pinocchio::MotionTpl, OtherScalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a2f3cf6f7450c20e1270fc1bae7471673</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a12ef3c06050157b46c05a4d726ef4d0d</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionTpl &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ad066b9fd287bb344acebfdfbb788e2e0</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionTpl &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7384156aeeb4e0e8f0e5f9e7386ce0d9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0c3e8854063d254545d9f21cd66f790c</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionTpl &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a59ab6bcd5f9518ed3ff21636a654e318</anchor>
      <arglist>(const MotionBase&lt; pinocchio::MotionTpl &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl</type>
      <name>operator/</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a57adecdaf0d3d5ffef77841edc5d1565</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aa257f44723a4d15beba98625fdb748b5</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a7e465164835ea2f2e67a54183421dab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionTpl &gt;::ReturnType</type>
      <name>se3Action</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a603d58aba08ecc15cb5e250828580d2e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionTpl &gt;::ReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0b5b018f9d53df81f284030f98e3658b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a999e3a3a4092125ec57d293be7b97166</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>af5c00a020c517c4a5834dee2dab1a991</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a0a1d09d64ebfbcc4d0b5688d7131deba</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>ace120fcc2d6cb1f31d1f946cb6619f90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a3e6518bf687357d664b7cdf845634f7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>aeea968496ab751617142cad045267ccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classpinocchio_1_1MotionBase.html</anchorfile>
      <anchor>a5ac93de6ac2b1761644b657c329c6e5c</anchor>
      <arglist>(std::ostream &amp;os, const MotionBase&lt; pinocchio::MotionTpl &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::MotionDense</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <templarg>Derived</templarg>
    <base>pinocchio::MotionBase</base>
    <member kind="typedef">
      <type>MotionBase&lt; Derived &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Derived &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, Derived &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionDense&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <base>MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</base>
    <member kind="typedef">
      <type>MotionBase&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, MotionRef&lt; const Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(MotionRef&lt; const Vector6ArgType &gt;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6ArgType &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionDense&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <base>MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</base>
    <member kind="typedef">
      <type>MotionBase&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, MotionRef&lt; Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(MotionRef&lt; Vector6ArgType &gt;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6ArgType &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionDense&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <base>MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>MotionBase&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, MotionTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(MotionTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionDense&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <base>MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>MotionBase&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, MotionTpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(MotionTpl&lt; Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionDense&lt; pinocchio::MotionRef &gt;</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <base>MotionBase&lt; pinocchio::MotionRef &gt;</base>
    <member kind="typedef">
      <type>MotionBase&lt; pinocchio::MotionRef &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; pinocchio::MotionRef &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, pinocchio::MotionRef &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(pinocchio::MotionRef)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionRef &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionRef &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionRef &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionDense&lt; pinocchio::MotionTpl &gt;</name>
    <filename>classpinocchio_1_1MotionDense.html</filename>
    <base>MotionBase&lt; pinocchio::MotionTpl &gt;</base>
    <member kind="typedef">
      <type>MotionBase&lt; pinocchio::MotionTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aac6af9239d7fa2f4c0e0c38516517c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; pinocchio::MotionTpl &gt;::MotionRefType</type>
      <name>MotionRefType</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a220e9eb075d14592bf06505edcb91232</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__div__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7275ccefa0d57bda76791598c28bbb2b</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9af24cb1c11848e70cd0748c3122b0d4</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a4988f68d809fc700b009dd6a7d7c0f7d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aadad7ae3e5f865e2c15a047844726e31</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__opposite__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a79475f118aca9e9e36999d74d86ab35c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0a9c9db76d5abc116650860f7d93e64e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a47eebca299fbeb26ef8d7a6190a63f4b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; D, pinocchio::MotionTpl &gt;::ReturnType</type>
      <name>cross_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b1bc73a30e64711bbfe420a3b38de90</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7b4d24626920eb4b0eed972361140d61</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>dot</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>acb935f7c7d9678c6193110595017ac8d</anchor>
      <arglist>(const ForceBase&lt; F1 &gt; &amp;phi) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ac5a3ab96ba58126d14a8ce8c7a916eae</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a9226ec28b7976108a7f13acf2799435d</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aba5df17fc2e0851bfdcf4a20bc1d588a</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a284a12dc9a63d7baa801314f0048b43f</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abe4a08b30473aff35984338ea8f293ad</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a076bea270c254be91d39088047e94635</anchor>
      <arglist>(pinocchio::MotionTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab03755d92c8c52a514cc3a48136764a0</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf6c26c3b753e78453eebdc046876543</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a730cf743a42081ae1307d0ed3785428e</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a96541b471055122ea4cb33bd38335cbe</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a66fd2673f724bd0301906ff82cf39270</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5613a6d213c8f11a3153c6b5cc4b0664</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a208423b7b53e8259a9c6f6605e36fae3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ab2dcf92cbfa0e489abe1e8336827da7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>ae6fcefa5314acc4e1bf3b602e67eb45e</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aecc59df4648c275bb9ebb6faa6fde92a</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a48f61941ea7d741e2677d41c904fdc0e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRefType</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a52cb7ea26daccc7474bc419926ccac0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>aaa9f9a1bd83adfbd9c9b7e2b4bfaf8ed</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionTpl &gt;::ReturnType</type>
      <name>se3Action_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a09d66d739685373da4c60b36d6d053f6</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>abfc911edb8fdbf9fae9205310d4a3072</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; pinocchio::MotionTpl &gt;::ReturnType</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>adf28097279820d54d429f81afdfb3af8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a6b9fdba7d471f54cfb84451bba9dd5c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pinocchio::MotionTpl &amp;</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a30ab5e6cdd8cf3007978ec94b6a26915</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a7833380b4734952895869687545ce44f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a0633d6ad3f331a92a91818898a5d8e16</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>classpinocchio_1_1MotionDense.html</anchorfile>
      <anchor>a5b225a49338e031aac9728793ebfe42b</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionPlanarTpl</name>
    <filename>structpinocchio_1_1MotionPlanarTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>MotionBase&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>CartesianAxis&lt; 2 &gt;</type>
      <name>AxisZ</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a5b336e13def369c410beee952f1b0150</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>ae4ebc86f904b05a2660f83c1b5575723</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a05eebdd9e8133f7bc649cdee198f7242</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a35ff8dcfb3230e9a85db25d8b22d1aae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a902625e8085f8a26e9ae1bbfae3c5239</anchor>
      <arglist>(const MotionPlanarTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a0157091446094655d85d15cbcaebc909</anchor>
      <arglist>(MotionPlanarTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>ab38f3326ac456425d66f8d30d660e3fb</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a36a383e853f199ec74348f69570d0e3c</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPlanarTpl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a788e528d60dcb955cf518ef8c23e9043</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPlanarTpl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a8a1fd29862c54864e749190aeaefb3ae</anchor>
      <arglist>(const Scalar &amp;x_dot, const Scalar &amp;y_dot, const Scalar &amp;theta_dot)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPlanarTpl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>ab3a60fafa80f952aaa8bd537dea72d69</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;vj)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a80705b0558f33332ff5c5f4e6f31b3c4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a0c22ab1c473199a1b3ab587d9e08d368</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>acd4ac57df4af0f0de7251353fad7fb28</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a83bdbda656bd1d89b999393d2ecd03af</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a4c6b6ef4ae2021521d79aaefbf15d598</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>adea0fa8e6429c91fb313897788741336</anchor>
      <arglist>(MotionDense&lt; MotionDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>vx</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>ad3f2518a111c3d2f02133a5a28ea485e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>vx</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>ae6f9df8b547111bc604c6c8c4acff1f1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>vy</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a69a7d9cb1b344db50310ed8c534b2266</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>vy</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>aced6bbfe654288cdff5018658ce6be04</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>wz</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a5b1a66cff2bf1fc54b0b18769457d0f6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>wz</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a71dfb7d2946b54e50bf4d9f4951f1935</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_data</name>
      <anchorfile>structpinocchio_1_1MotionPlanarTpl.html</anchorfile>
      <anchor>a324a53e98b8acae12209514530a99691</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionPrismaticTpl</name>
    <filename>structpinocchio_1_1MotionPrismaticTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>_axis</templarg>
    <base>MotionBase&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</base>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>acb47199000a15723bc571683265d4722a8f4ffef03f08db974d8141513aba80f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>acb47199000a15723bc571683265d4722a8f4ffef03f08db974d8141513aba80f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; _axis+LINEAR &gt;</type>
      <name>Axis</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a199d3e19be3cce8950fb7840cd42af52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Axis::CartesianAxis3</type>
      <name>CartesianAxis3</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>ac65b9aa524950b724d774dfd5ddb73de</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPrismaticTpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>ad3b734a12e68a58ee9ab60405e9749c5</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>aacfa0220abe310bb36e93d00232d4f9b</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>af80cea6fe6ff0ce3f895097cb5947fa8</anchor>
      <arglist>(const MotionPrismaticTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>linearRate</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a919f4940aa44bf2fc4b2c37d922af168</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>linearRate</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a02c8e01d60565407d55944e311ff51c2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a0f170751c0dab7ca40cd3e320261602a</anchor>
      <arglist>(MotionPrismaticTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a752f2a28c929e2fb8b984b2030e8318d</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a36291ca5d6acad133b84f90903e41ece</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPrismaticTpl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>ab266ed0f763f35b51aae239543187883</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPrismaticTpl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a7290bfae6c5c0aa83909c44856fffd1e</anchor>
      <arglist>(const Scalar &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>ae19e38078a4e9d8c4639908970432bd6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>aec1377e94164fdd9c09a469fa801889b</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a25f63b9106df5a8f91ec7acd4f7309d2</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a8433f40bf75b6aba68f4c4660dc87d1d</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>afad7626f15c4311c3e5934a713929cb5</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a37816635983cbc64c4de271fabbb55a2</anchor>
      <arglist>(MotionDense&lt; MotionDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_v</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticTpl.html</anchorfile>
      <anchor>a506032ea0698a0704e2abd96288a21f7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionPrismaticUnalignedTpl</name>
    <filename>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>MotionBase&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type>MotionPrismaticUnalignedTpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>aae8f69bd823c03d0b6f86b5a0f4c2384</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a0759de700226e63bc037b22b27f67b26</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a1059be9928a466f0fd7c164200a73e28</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a122e8781ff9a1aa37cba3787db19a96b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>acdaf8ae05aa3c97af2fbc8991ff4af8c</anchor>
      <arglist>(const MotionPrismaticUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>linearRate</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af962be230926afc5f961310605360a86</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>linearRate</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>add71b8338848f5dda23db8609d6f9020</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af453460d11e03decbb9c7cc40bf9def5</anchor>
      <arglist>(MotionPrismaticUnalignedTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a1f1cb6d278012ec425e4138822be6051</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>ac3ee2a8f5a8a37468cdc60576876cc48</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a21fd8c17238eb4eabf851d85a51c17ce</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionPrismaticUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a0ac0186e312c1114c2db437f4ff6d041</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis, const S2 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af6a5094b9268a978013a97b3b682e81c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a6dab57bf4a526b5aced6a742b6e1ee96</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a0c96a82a82bc4187f5a67e509a4b67fc</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af0c61f4b074a1c553d3dccfe8199d28e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>a8810429d3e05eb6aeae6d9099762ae98</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>af1dce851e2aa113032342e9ce6d02bcc</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_axis</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>ac0274e00443d81a4675bf16d7febdd23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_v</name>
      <anchorfile>structpinocchio_1_1MotionPrismaticUnalignedTpl.html</anchorfile>
      <anchor>ab618159dc0589ee4acb3e0ac9daac930</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::MotionPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1MotionPythonVisitor.html</filename>
    <templarg></templarg>
    <class kind="struct">pinocchio::python::MotionPythonVisitor::Pickle</class>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>ab5d397a0905f3bab8fa782785af4876ca3aac0058f70e1606b933a7cfb94edc0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, traits&lt; Motion &gt;::Options &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a8ef647eed482a7f66f502e18a8c4fcbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Vector3 &gt;</type>
      <name>MapVector3</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>ab3e501cc7a11560ed5d33e84e63ee1c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>ab5d397a0905f3bab8fa782785af4876ca3aac0058f70e1606b933a7cfb94edc0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Vector3 &gt;</type>
      <name>RefVector3</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a7d6113a2c612f8a9035be58234ddd60e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Motion::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>aa32902e649e7228be52176e2b4061d83</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Motion::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>abefe1cd0a9abf7a8ac59dc3860b09b97</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Motion::Vector6</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a5fe344043b84cb3d865400086c0bff3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a587ad38ccaa4be617d46e6eae3c8fabb</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>aafa001cd90c56da830fa4f14da65d5a6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static RefVector3</type>
      <name>getAngular</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a5009428302fb8642d92859f47a050f20</anchor>
      <arglist>(Motion &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static RefVector3</type>
      <name>getLinear</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a9296858ecf20b274c13032a91f52b83e</anchor>
      <arglist>(Motion &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setAngular</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a74a195fda1c384ada65e714ec3a8dac7</anchor>
      <arglist>(Motion &amp;self, const Vector3 &amp;w)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setLinear</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>ada09a414ef42e4a2ce79c2ebcffed390</anchor>
      <arglist>(Motion &amp;self, const Vector3 &amp;v)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a1e47b08ed8e0d74534b0742cc64e0e5b</anchor>
      <arglist>(Motion &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setVector</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>aae3dd0b612db111049b89cfc6a17084c</anchor>
      <arglist>(Motion &amp;self, const Vector6 &amp;v)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setZero</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor.html</anchorfile>
      <anchor>a02dbc4a3c78de457f110579d15b32e2a</anchor>
      <arglist>(Motion &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::MotionRef</name>
    <filename>classpinocchio_1_1MotionRef.html</filename>
    <templarg>Vector6ArgType</templarg>
    <base>MotionDense&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</base>
    <member kind="typedef">
      <type>traits&lt; MotionRef &gt;::DataRefType</type>
      <name>DataRefType</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a72a67418f9c361db913a9027b43d5cb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionRef &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>af16fc5d6216540eec19d37038eb9697d</anchor>
      <arglist>(const MotionTpl&lt; S1, O1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ae8b2de3f41257230f4e116c499575998</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>abc91a10c85a4de041cbc9e4c6042b84b</anchor>
      <arglist>(const MotionTpl&lt; S1, O1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a826f588eaa86bf2e4c20423b0504c264</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ae5a35b5db17879d4d25553e0001734b6</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a65f7cf7fc910e16a546676736783c660</anchor>
      <arglist>(const MotionTpl&lt; S1, O1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ad9e378441942bee1e7360f407c4295dc</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>aa0ba0a60ebe16a121bc4e594e826f100</anchor>
      <arglist>(const MotionTpl&lt; S1, O1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a64da6869b992b94b42d24f77048de309</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a6a5b222b9185172196fd7b950e978f9d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a46ce5ed3fe50f763603bc1fe6375d5f2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ac45d9fc81418d1bc5b4e5df0ad5dfb4d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a72fe8dc7b889f491f93e6be91bbde2c4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ab556d857ad48eb4dc83b63988f199996</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>acf596d097644463ae85df3326dc32d0c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>adee3ae8acfb54e91748248f1d99dbedf</anchor>
      <arglist>(MotionRef)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRef</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a413adfbbb52ea3787fb370cbc32345cf</anchor>
      <arglist>(typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) v_like)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRef</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>aa3661dd217f76080266f6c66c46bc6e3</anchor>
      <arglist>(const MotionRef &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a38192b6e990c875d4ba218aa06357062</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef &amp;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>aa2f9b9b567f055e8bf7ed1f465ec5763</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ae510336d40ce802d0709d209c51028e7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>ab6855783582ed2be9b486eb7239c1bb6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense&lt; MotionRef &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a5011489a813d4486431eb20bc55e5c85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DataRefType</type>
      <name>m_ref</name>
      <anchorfile>classpinocchio_1_1MotionRef.html</anchorfile>
      <anchor>a3193f7bf30be81e821c9a7add452d7b6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::MotionRef&lt; const Vector6ArgType &gt;</name>
    <filename>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</filename>
    <templarg></templarg>
    <base>MotionDense&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</base>
    <member kind="typedef">
      <type>traits&lt; MotionRef &gt;::DataRefType</type>
      <name>DataRefType</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a14c003beaa4831f7abd30674e57aefec</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a0917da386c5bac231c88a6c8383b063c</anchor>
      <arglist>(const MotionTpl&lt; S1, O1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a986e49dc702f0aa13c7fc9835d127b0e</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ab4dd4c3c1e45e6a199d7d8b6f7730127</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>af48a1bfe581f5afffeebd60b838a9125</anchor>
      <arglist>(const MotionTpl&lt; S1, O1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>acc9bcf04630a0ace937ece182be6fb65</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ab254ac5db82c7bd4ff4c44893ace2b7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a2ea0404aaa9633abc94d3b04dc6cc954</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>af54c5e68e33e7eb17678e091f8ade950</anchor>
      <arglist>(MotionRef)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRef</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a49e4a016dc9af3b381759fd9344ef6fa</anchor>
      <arglist>(typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) v_like)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>a82579bf6c40f770c482e1b3dff440eff</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MotionRef &amp;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>adcfb693c703406423cf258478d478390</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ae2fa648a0446bf15c47854faf8491cae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense&lt; MotionRef &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ae859fbf8461b29fdd44d5f4774529237</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DataRefType</type>
      <name>m_ref</name>
      <anchorfile>classpinocchio_1_1MotionRef_3_01const_01Vector6ArgType_01_4.html</anchorfile>
      <anchor>ac22c624013828fa8691e06b1e53dd1a9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionRevoluteTpl</name>
    <filename>structpinocchio_1_1MotionRevoluteTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>MotionBase&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="typedef">
      <type>SpatialAxis&lt; axis+ANGULAR &gt;</type>
      <name>Axis</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a243cb51b29e7a70ccc6e64bcad168b0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Axis::CartesianAxis3</type>
      <name>CartesianAxis3</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>aeb44873c78c17456fe5cf9dc4f49d5be</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionRevoluteTpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>aea7c38aa33be6c62e6cab318b9199fea</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a4f41ef66f856d29b31646917aec0035a</anchor>
      <arglist>(MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>angularRate</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a948cf8ac311b67c0705fb4f0a412f2bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>angularRate</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>aafd76136c152d8b596f62d1f217e4d28</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a4337ba2a1102c97b0fec3fadc26ce795</anchor>
      <arglist>(const MotionRevoluteTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>ad05900ad7a37e60066b1aef941b4abd7</anchor>
      <arglist>(MotionRevoluteTpl)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_STRONG_INLINE void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a951374b2b17ed354bff8a8ede37c0882</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a74e082b585e32402c2a695145e487a8c</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a748a01176a4127c524ac5069d2eb2271</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a40dcab428dcd76cd22b0266dfa881e01</anchor>
      <arglist>(const Scalar &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>acf5de578c68957f7a70a8cf961970bd1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector1Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a2ea7a7c4d2f1ef7f2a12dd38d2607225</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>aeb21acfc26475789f7fd01e43a441e8e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>aa04cb7797f3c44aa37a5335acce0e9cf</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a47e217df93aff87217ef1c5a65239b7c</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a427001f5479336274d0ef18704ae0ae7</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>a54e05397aabd729d5e3c368530b47ef0</anchor>
      <arglist>(MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_w</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteTpl.html</anchorfile>
      <anchor>abc3e3660749dcdd67f25d3507d4d0be3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionRevoluteUnalignedTpl</name>
    <filename>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>MotionBase&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type>MotionRevoluteUnalignedTpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aebed958b94f280238f4a22983dea774c</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a3160b181a6a9f8ce366531b033a702da</anchor>
      <arglist>(MotionDense&lt; MotionDerived &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>angularRate</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a2a5435b18b059de52cb20ba3be92a8eb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>angularRate</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>abba7393d98e87790f4757d99fc4717d1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>acc8b49f01d2733533ca7e81b610a6629</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>axis</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ad512d54c9468234e61be0aa1e852e8d3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a94fc775d5a0ced04379814ce572b002c</anchor>
      <arglist>(const MotionRevoluteUnalignedTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a054916b168cb0eed4616b1f4ebbcec65</anchor>
      <arglist>(MotionRevoluteUnalignedTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a3f8bd7cfac4d073de4467db0032f08d3</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a70682bfd02bd4509a355435025c8df52</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a0e4c787c85cc8a72d3cc543fcc3efafa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionRevoluteUnalignedTpl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>aa81318a43e1715ffbb0a86759341f062</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;axis, const OtherScalar &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ae6ea40b0a2b54f8a257d125cdadeee36</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a216d677b85c56d4de0b0b7c22413b3ce</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>af155349b8526e7e4688b78f1d4f4a01c</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a53af7186624f31e8a9327da2b15a93cc</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a7b416ff2f2872ef964faba3008e9568d</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>ae00846b9e8501957f86323ea61c1d4f5</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_axis</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>afae1507dd700953575bf84443ee8a791</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_w</name>
      <anchorfile>structpinocchio_1_1MotionRevoluteUnalignedTpl.html</anchorfile>
      <anchor>a9f54eaf0ef9522b1114448dc6b328b7c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionSphericalTpl</name>
    <filename>structpinocchio_1_1MotionSphericalTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>MotionBase&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type>MotionSphericalTpl</type>
      <name>__plus__</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>afc15937f39deae2d559a11c3832f7306</anchor>
      <arglist>(const MotionSphericalTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>af71454be70056ebaf2039afa7b069586</anchor>
      <arglist>(MotionDense&lt; MotionDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>angular</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a30a9bc9783229540b60d1ba00ba294ea</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>angular</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>ae2412c737ee869eec7b194aa0904db3d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a66b17d203c871384f59d256770ecb962</anchor>
      <arglist>(const MotionSphericalTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>aaa41994b11295d3a781b07ff0886f7e6</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>aab2c7c029f293637219282696577a9c0</anchor>
      <arglist>(MotionSphericalTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a8200422fa50d230bc05d2206d37e4f02</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>ab1ffc03a5f2fd449c89fc055c31d5a7f</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionSphericalTpl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>ad4aa4c1b388e5c906187d42c045fc7ef</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionSphericalTpl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a75f9b10a758603b5b8287b3d4fca8f07</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a49182b559c65afdd3cf79a3d3a1da5c7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a5ab470a9bd1c5b86ddb5b08e17420955</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a8c7f6e11ce4fdf42eb73b2aa79414df7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>aaa4437ce4c10d1024f56fe6acda3d248</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>adf9388902167c169ebbaff7079bbb4bc</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>a52b720a502b9efa1fbb30b0995381276</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>adcf453b066df44cc30a980f79753f961</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>abf79b085d215354c8216f062f460194d</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_w</name>
      <anchorfile>structpinocchio_1_1MotionSphericalTpl.html</anchorfile>
      <anchor>aa4ab4378911551cf74d69bcfd4af05fb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::MotionTpl</name>
    <filename>classpinocchio_1_1MotionTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>MotionDense&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ac33932c9146e4896ff5b37b4fb93dfafa18facc57b61e38ced5d4bb70f80ecf52</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ac33932c9146e4896ff5b37b4fb93dfafa18facc57b61e38ced5d4bb70f80ecf52</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ababf042419c677483961b457600c6f10</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a9e303f517aabf3d546734f53227e719d</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aaf05cb09006d61193874875e1079a20d</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a8cd4d632bea033535bc2e7264172ccd9</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a830d2720054d76f2e318f821e4eba978</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aaf310fd0bf6ef9fc12407fcee55bc9bb</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ac9aadb6f6228c247e977e85d01782f1f</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aa691a5b5a288bf2c4cbc30733da60f8e</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a79f779a5436064ce9af29a0d16fbcd5a</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a04f980e4953942f1c48284cab82a2902</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a92bb650cc6cde1f109cb95c9fb178e03</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a051359fa8137a913e16133959bbe50cc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a73706bd8c2cd2b631fdcfb9126e3dc61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a2792e323e09bfc11057556e4d74f7773</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a92040ec756c9fdabe435be797bfe9bdd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a671ef072ea1afa3cc9563bd906475ab9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ada54d07fe7b54996efeac99f60e6ca8a</anchor>
      <arglist>(MotionTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a5909b79d3144325fd55f76363757d792</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aa253f9b15972c1bbd5faa47aaf714195</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;v, const Eigen::MatrixBase&lt; V2 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a361344cbe74ce97a0e187e74077e8cac</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a1a7ae0534a9c974586f171a0ecdd5742</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a4a8bf121964ea2b7e55fcca6a1b24c22</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>af67f06112b23b2a9e033b6677456c0bf</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a9805d8e4db507be7c533e34750f38b95</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6 &gt;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a8a1aa7a55b85ebb29a322291d7d72f69</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a6c80945a9689c1634e66e6a486d7330d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a9183abdf3991dc09d68ac6e5e12f4c30</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static MotionTpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a6d16e5f62630fcead725d5c75e52a697</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static MotionTpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a2f85b68df361cb682901b83b3e69e905</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense&lt; MotionTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a6a8a693842c10a00a9f0ef6bcb1a3678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_data</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a19fda182fcee6823bcdad740d0443798</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotionTpl&lt; Scalar, Options &gt;</name>
    <filename>classpinocchio_1_1MotionTpl.html</filename>
    <base>MotionDense&lt; MotionTpl&lt; Scalar, _Options &gt; &gt;</base>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ac33932c9146e4896ff5b37b4fb93dfafa18facc57b61e38ced5d4bb70f80ecf52</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ababf042419c677483961b457600c6f10</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__mequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a9e303f517aabf3d546734f53227e719d</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aaf05cb09006d61193874875e1079a20d</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__minus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a8cd4d632bea033535bc2e7264172ccd9</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__mult__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a830d2720054d76f2e318f821e4eba978</anchor>
      <arglist>(const OtherScalar &amp;alpha) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aaf310fd0bf6ef9fc12407fcee55bc9bb</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl &amp;</type>
      <name>__pequ__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ac9aadb6f6228c247e977e85d01782f1f</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aa691a5b5a288bf2c4cbc30733da60f8e</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>__plus__</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a79f779a5436064ce9af29a0d16fbcd5a</anchor>
      <arglist>(const MotionRef&lt; Vector6ArgType &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a04f980e4953942f1c48284cab82a2902</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a92bb650cc6cde1f109cb95c9fb178e03</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>angular_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a051359fa8137a913e16133959bbe50cc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a73706bd8c2cd2b631fdcfb9126e3dc61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a2792e323e09bfc11057556e4d74f7773</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a92040ec756c9fdabe435be797bfe9bdd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>linear_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a671ef072ea1afa3cc9563bd906475ab9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>ada54d07fe7b54996efeac99f60e6ca8a</anchor>
      <arglist>(MotionTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a5909b79d3144325fd55f76363757d792</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>aa253f9b15972c1bbd5faa47aaf714195</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;v, const Eigen::MatrixBase&lt; V2 &gt; &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a361344cbe74ce97a0e187e74077e8cac</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V6 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a1a7ae0534a9c974586f171a0ecdd5742</anchor>
      <arglist>(const MotionTpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a4a8bf121964ea2b7e55fcca6a1b24c22</anchor>
      <arglist>(const MotionDense&lt; M2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTpl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>af67f06112b23b2a9e033b6677456c0bf</anchor>
      <arglist>(const MotionBase&lt; M2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a9805d8e4db507be7c533e34750f38b95</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; Vector6 &gt;</type>
      <name>ref</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a8a1aa7a55b85ebb29a322291d7d72f69</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ToVectorConstReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a6c80945a9689c1634e66e6a486d7330d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ToVectorReturnType</type>
      <name>toVector_impl</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a9183abdf3991dc09d68ac6e5e12f4c30</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static MotionTpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a6d16e5f62630fcead725d5c75e52a697</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static MotionTpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a2f85b68df361cb682901b83b3e69e905</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense&lt; MotionTpl &gt;</type>
      <name>Base</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a6a8a693842c10a00a9f0ef6bcb1a3678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_data</name>
      <anchorfile>classpinocchio_1_1MotionTpl.html</anchorfile>
      <anchor>a19fda182fcee6823bcdad740d0443798</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionTranslationTpl</name>
    <filename>structpinocchio_1_1MotionTranslationTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>MotionBase&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a71f10f3c53d36924c73b38cc5c13729f</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a12b3f47e224725998faacfe29c74aa98</anchor>
      <arglist>(const MotionTranslationTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>linear</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a57338c2174e97bf329a7eff0c6709685</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>linear</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a2c9d375e3debd1301942794b12fea536</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>MOTION_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>ad84231783e111ed571e192d7935f1406</anchor>
      <arglist>(MotionTranslationTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a9b9752b45974d606d176f7b7f6ef994b</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, MotionDense&lt; M2 &gt; &amp;mout) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a0a7d415bede1394fb2a6273b7a9c9959</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTranslationTpl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>aaa619eee63c238eead890729645c616c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTranslationTpl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>afbc0adfeb23687abc9fbc6ba3d9c7228</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionTranslationTpl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>ad962f524b1b2391e378ddcb514fad899</anchor>
      <arglist>(const MotionTranslationTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>Vector3 &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a2ac4cd661f19c7232de559a8b206d01c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>adc30f39ed4120a05e3f0a1b89fa045f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionTranslationTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>ae072b12010cdebb869acd1b55b41cf50</anchor>
      <arglist>(const MotionTranslationTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a8efdb989172c5ab547984df835140e12</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a610a23e50971f1c4aa8b0ade8ae1a0dd</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>acab81bcd7955b30c686b87fbbe11c100</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a640ce32a5b8835821b846a25660735c2</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionPlain</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a2021c115a70cfa3ceb42a9a34ab76a6e</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>a1b58612044bba4668572667fffdf6afd</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;other) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_v</name>
      <anchorfile>structpinocchio_1_1MotionTranslationTpl.html</anchorfile>
      <anchor>adfcbf019598ba12ec7272fefcb37d0ff</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MotionZeroTpl</name>
    <filename>structpinocchio_1_1MotionZeroTpl.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <base>MotionBase&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;</base>
    <member kind="typedef">
      <type>traits&lt; MotionZeroTpl &gt;::MotionPlain</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a287059f21f2673e01ac2ae0daad0984a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; MotionZeroTpl &gt;::PlainReturnType</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a3d0d0ccb87fd7646a8f45e7c7349e0e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a7a4b56c171b7e9e659e8e13049ac6c4b</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>af506a071cfd177f417e3b802f0747034</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl</type>
      <name>se3Action_impl</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>aa7cc63ce34701657e4c2455a267dcedd</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>ab6d3bcc9f7e8be823210173cfcd8f8f8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;, MotionDense&lt; D2 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>MotionZeroTpl</type>
      <name>se3ActionInverse_impl</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a3cc3bd653653c5be86091ef7c04c4fa8</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addTo</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>ad604198b2f0bcfd9acd276c62346ff4e</anchor>
      <arglist>(const MotionBase&lt; D2 &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>aa7c4a5ac45421faa47568812a8b2fda2</anchor>
      <arglist>(const MotionDense&lt; D2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a55aef2e86f474d2f81e03c95d3f74e4d</anchor>
      <arglist>(const MotionZeroTpl &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static PlainReturnType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a0e3ac20298640e6c60b4a68fe522d585</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setTo</name>
      <anchorfile>structpinocchio_1_1MotionZeroTpl.html</anchorfile>
      <anchor>a9a306b9ef5a89abf61477f867e35cf54</anchor>
      <arglist>(MotionBase&lt; D2 &gt; &amp;other)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp</name>
    <filename>structpinocchio_1_1MultiplicationOp.html</filename>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticTpl&lt; S2, O2, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism1fdc30c1bbd407007303fc2df617993e.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>M6Like::ConstColXpr</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism1fdc30c1bbd407007303fc2df617993e.html</anchorfile>
      <anchor>a3e1b42b31f2fbeb819338e347a842954</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism0e4c615c791145af8c5938654b3eac49.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism0e4c615c791145af8c5938654b3eac49.html</anchorfile>
      <anchor>a8ac498932ca606bc80d8f5bd2053f2f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SizeDepType&lt; 3 &gt;::ColsReturn&lt; M6Like &gt;::ConstType</type>
      <name>M6LikeCols</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism0e4c615c791145af8c5938654b3eac49.html</anchorfile>
      <anchor>ae99d0fa782e0d8ffba6188c949bdcafb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::internal::remove_const&lt; M6LikeCols &gt;::type</type>
      <name>M6LikeColsNonConst</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism0e4c615c791145af8c5938654b3eac49.html</anchorfile>
      <anchor>a22e5c0451ef82d1de3f5a421450b98cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const MatrixMatrixProduct&lt; M6LikeColsNonConst, Vector3 &gt;::type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism0e4c615c791145af8c5938654b3eac49.html</anchorfile>
      <anchor>a7e3c94fbc00b50b8fe03edd539ace0ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintPrism0e4c615c791145af8c5938654b3eac49.html</anchorfile>
      <anchor>aaaf8d5204b09f536f45ba97b5231d719</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteTpl&lt; S2, O2, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol52b57e960f015164696e6601cd115667.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>M6Like::ConstColXpr</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol52b57e960f015164696e6601cd115667.html</anchorfile>
      <anchor>a91779c1fda175c057ec036b81207c335</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol97d9a52f2c51a8d3bdfafb8370728e5d.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol97d9a52f2c51a8d3bdfafb8370728e5d.html</anchorfile>
      <anchor>a4f330ea036de9a50268dda7372593585</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SizeDepType&lt; 3 &gt;::ColsReturn&lt; M6Like &gt;::ConstType</type>
      <name>M6LikeCols</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol97d9a52f2c51a8d3bdfafb8370728e5d.html</anchorfile>
      <anchor>a6d1f8dd0272030b2ac8a41ff06280089</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::internal::remove_const&lt; M6LikeCols &gt;::type</type>
      <name>M6LikeColsNonConst</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol97d9a52f2c51a8d3bdfafb8370728e5d.html</anchorfile>
      <anchor>a5be4386c582bc79aeb245bec5d2ce8f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const MatrixMatrixProduct&lt; M6LikeColsNonConst, Vector3 &gt;::type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol97d9a52f2c51a8d3bdfafb8370728e5d.html</anchorfile>
      <anchor>aad5c2e916b0ff162c2c7ba2a750b9bae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ConstraintRevol97d9a52f2c51a8d3bdfafb8370728e5d.html</anchorfile>
      <anchor>a15b3297204a5d8280124022d448a09ba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, _Constraint &gt;::ReturnType</type>
      <name>OriginalReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>aa6f49b1160326ea242902a5defd99238</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01Eigen_1_1MatrixBase_3_01M6Like_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>aca69ee6800f1f6105f93a5dc72299dca</anchor>
      <arglist>(OriginalReturnType) ReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintPrismaticT3b9e744112c7e7a505239e40eafe4743.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S2, 6, 1, O2 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintPrismaticT3b9e744112c7e7a505239e40eafe4743.html</anchorfile>
      <anchor>a4c6cf364a26b456bd53dee4f72e20ad1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintPrismaticUabe8b1c95d77d1f8307ce8551dc10bad.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S2, 6, 1, O2 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintPrismaticUabe8b1c95d77d1f8307ce8551dc10bad.html</anchorfile>
      <anchor>a80a09ccd710c4ba2819ec1fbf89c736d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintRevoluteTp67e73d518bd51859a04f047462f55132.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S2, 6, 1, O2 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintRevoluteTp67e73d518bd51859a04f047462f55132.html</anchorfile>
      <anchor>a2a9d16358cb03398eb812b56b587e880</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintRevoluteUnfab9f5c5b23914984445f06ccd63a77c.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <templarg>O2</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S2, 6, 1, O2 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ConstraintRevoluteUnfab9f5c5b23914984445f06ccd63a77c.html</anchorfile>
      <anchor>a362d39f55f540cb6a5d7acac94894317</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</name>
    <filename>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>ScaledConstraint&lt; _Constraint &gt;</type>
      <name>Constraint</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>a494b1367d0068862713988c954f7f692</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; S1, O1 &gt;</type>
      <name>Inertia</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>ad7329cc3e92a06ad1284be65b4490d2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MultiplicationOp&lt; Inertia, _Constraint &gt;::ReturnType</type>
      <name>OriginalReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>a780a314db00d9eb9c726a6cdaeb8bf35</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>OriginalReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>a91cdce7f0285fb5709b74f5fb5f71085</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1MultiplicationOp_3_01InertiaTpl_3_01S1_00_01O1_01_4_00_01ScaledConstraint_3_01__Constraint_01_4_01_4.html</anchorfile>
      <anchor>a028075a6b2a4d1bd3924c192a402ac18</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::NumTraits&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</name>
    <filename>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1detail_1_1expression_3_01tag_00_01Arg1_047dcf807419fa78c7c23042261328804.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>Eigen::NumTraits&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &gt;</name>
    <filename>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>ExpressionTemplates</templarg>
    <member kind="enumvalue">
      <name>IsComplex</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccafd29671296cc116ce3c0b23f9c90633d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfcca2d3efcb2b8c25112d7b84b6002571d34</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ReadCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfcca10ff7f5d35e28f618d59e53a1b51446c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AddCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccabf9a6e30f84733e3f9153465f6270f95</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MulCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfcca5419524563789603e12db23eeeb1edeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsSigned</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccae4e760953bc414cb4178fab1eb083197</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RequireInitialization</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccaf698bd1969d5d08e7ecbbc8519260964</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AddCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccabf9a6e30f84733e3f9153465f6270f95</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsComplex</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccafd29671296cc116ce3c0b23f9c90633d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfcca2d3efcb2b8c25112d7b84b6002571d34</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsSigned</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccae4e760953bc414cb4178fab1eb083197</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>Literal</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>a0e99491a42df0e4f9c11e562656ee6bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MulCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfcca5419524563789603e12db23eeeb1edeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>self_type</type>
      <name>Nested</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>a39ec54f02b11d62752b4b402ad24b4bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>self_type</type>
      <name>NonInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>ab10fc3e6f09f7448564b297f04333a5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ReadCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfcca10ff7f5d35e28f618d59e53a1b51446c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>self_type</type>
      <name>Real</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>aa59a54d9c232563489dc92324d2ddc2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RequireInitialization</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>af4118a7661f6daec7f99e22ae25cdfccaf698bd1969d5d08e7ecbbc8519260964</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;</type>
      <name>self_type</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>a46fcee664de2acdb2e0ea3c5f2792c72</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>digits10</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>a4be38f8363781bb47f85299200159b85</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>digits10_imp</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>a0ff685de2652398c280cc30d7efd24af</anchor>
      <arglist>(const boost::mpl::true_ &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>digits10_imp</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>a5269df34004c20e9b1cfdfbc27f0ef33</anchor>
      <arglist>(const boost::mpl::bool_&lt; B &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Real</type>
      <name>dummy_precision</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>ab6a49ca6c45c9793684305ff4fdeb0d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Real</type>
      <name>epsilon</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>ac5f62ccc6d799903cccf3c1f7633395b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Real</type>
      <name>highest</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>ad19d1dc88c99bd7e34095ccada451f2a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Real</type>
      <name>lowest</name>
      <anchorfile>structEigen_1_1NumTraits_3_01boost_1_1multiprecision_1_1number_3_01Backend_00_01ExpressionTemplates_01_4_01_4.html</anchorfile>
      <anchor>ac4fa369e6a1bb4594f7fea99b7480c95</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::NumTraits&lt; casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>IsComplex</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a5545a371769cc98065dc0cb8c4a4aa53</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892afa9b3e2f8b328cb90fe28f09ef0e3b52</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsSigned</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892ab0970d0f35b4cef3cd40ee02d1ba1dd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RequireInitialization</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a6274f92462225ca157748f4b8fe90c1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ReadCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892aa66672d32970a63a9bee3f2fccdee379</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AddCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a5cef96ae55cf8aa02928931d387d970a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MulCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a88136b0cc615b55e4ff665a84026f4b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AddCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a5cef96ae55cf8aa02928931d387d970a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsComplex</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a5545a371769cc98065dc0cb8c4a4aa53</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892afa9b3e2f8b328cb90fe28f09ef0e3b52</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsSigned</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892ab0970d0f35b4cef3cd40ee02d1ba1dd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>casadi::Matrix&lt; Scalar &gt;</type>
      <name>Literal</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a2ca091cee0458786a4b898f65774def1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MulCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a88136b0cc615b55e4ff665a84026f4b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>casadi::Matrix&lt; Scalar &gt;</type>
      <name>Nested</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a369f262165fa7681e41a49f857e59511</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>casadi::Matrix&lt; Scalar &gt;</type>
      <name>NonInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a816255801f68e59ba666b5749862da49</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ReadCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892aa66672d32970a63a9bee3f2fccdee379</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>casadi::Matrix&lt; Scalar &gt;</type>
      <name>Real</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a2166cb36c4948608deeb3b491f6212fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RequireInitialization</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1aba56a35fca8464baf232425f2a8892a6274f92462225ca157748f4b8fe90c1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>digits10</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>aa656d5320255fb99c9ac90983a18465d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static casadi::Matrix&lt; Scalar &gt;</type>
      <name>dummy_precision</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a11d814bde0a9633de8f29cf6d7c0cf89</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static casadi::Matrix&lt; Scalar &gt;</type>
      <name>epsilon</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a1907ff368f474ce12ad81fd28bfe632e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static casadi::Matrix&lt; Scalar &gt;</type>
      <name>highest</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>aeddbb5907c42d6639d7f57560deef830</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static casadi::Matrix&lt; Scalar &gt;</type>
      <name>lowest</name>
      <anchorfile>structEigen_1_1NumTraits_3_01casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>af8da6a794dbe42119539b5b8e4aabe66</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::NumTraits&lt; CppAD::AD&lt; Base &gt; &gt;</name>
    <filename>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>IsComplex</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea3ee780955aa598504153874923228a7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7eaf460c7d91a02178178c02ed75654b198</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsSigned</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea55311064cefac0d3bea33c81b4d07ef3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RequireInitialization</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea1fc969f486b4d95b9f2b8ce3fa0d8d4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ReadCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea4955f5c9df4841af73e58b08d39844b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AddCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7eaee6625ff11918984192514a0af25d906</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MulCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea6745309837ef2374658b25e6d2f32b7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AddCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7eaee6625ff11918984192514a0af25d906</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsComplex</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea3ee780955aa598504153874923228a7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7eaf460c7d91a02178178c02ed75654b198</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IsSigned</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea55311064cefac0d3bea33c81b4d07ef3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::AD&lt; Base &gt;</type>
      <name>Literal</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a3d076c5abdbd988febe4b92799afa992</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MulCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea6745309837ef2374658b25e6d2f32b7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::AD&lt; Base &gt;</type>
      <name>Nested</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a34b0677fd54ff7510d990fa307f9a9ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::AD&lt; Base &gt;</type>
      <name>NonInteger</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>ae3a1c55b3d2ef02c6a09cbc88a1e7dcd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ReadCost</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea4955f5c9df4841af73e58b08d39844b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::AD&lt; Base &gt;</type>
      <name>Real</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>acf2540db6ea9cfd186015ccf64d3d510</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RequireInitialization</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a12957634e0a8e973ba6db431b2dbae7ea1fc969f486b4d95b9f2b8ce3fa0d8d4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>digits10</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a464f93159c09b1a1cba0d8e5e9c725ea</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CppAD::AD&lt; Base &gt;</type>
      <name>dummy_precision</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>ad5dbdb762f406c053ff3e99a2fc3ce1b</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CppAD::AD&lt; Base &gt;</type>
      <name>epsilon</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a71b4da16b3822ff615f33c33ac64758b</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CppAD::AD&lt; Base &gt;</type>
      <name>highest</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>acedba8648aaded841d058e5611f478ee</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CppAD::AD&lt; Base &gt;</type>
      <name>lowest</name>
      <anchorfile>structEigen_1_1NumTraits_3_01CppAD_1_1AD_3_01Base_01_4_01_4.html</anchorfile>
      <anchor>a117d18c555c3fba8790d2efb9219830f</anchor>
      <arglist>(void)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation.html</filename>
    <templarg>JointModel</templarg>
    <member kind="typedef">
      <type>VectorSpaceOperationTpl&lt; JointModel::NQ, typename JointModel::Scalar, JointModel::Options &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroupMap_1_1operation.html</anchorfile>
      <anchor>a2f87af13eebb3fff25b4403ad02a3d5b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelCompositeTpl_3_01Scalar_00_01Options_0bb7d780db147d8023180eb2040db10d7.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation&lt; JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>SpecialEuclideanOperationTpl&lt; 3, Scalar, Options &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a44499d2176454dca9f01e99dc58215f3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation&lt; JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>SpecialEuclideanOperationTpl&lt; 2, Scalar, Options &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a25b28ffc980579c2c99664cdc003145b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation&lt; JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>SpecialOrthogonalOperationTpl&lt; 2, Scalar, Options &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a8c5e74fab7893e78e03fc5ff8c271681</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>SpecialOrthogonalOperationTpl&lt; 2, Scalar, Options &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a2b856a86f62eb99c91d9f1429516b512</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::LieGroupMap::operation&lt; JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>SpecialOrthogonalOperationTpl&lt; 3, Scalar, Options &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1LieGroupMap_1_1operation_3_01JointModelSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ad0de639b7a494efc4a8c4ad6e8126f1c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::details::overload_base_get_item_for_std_map</name>
    <filename>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>Container::value_type::second_type</type>
      <name>data_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>a793f1ef5c9876700464356288251ea93</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Container::key_type</type>
      <name>index_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>ac06f41826614d6f9c463e76efb344f20</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Container::key_type</type>
      <name>key_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>a400fdb264f71cbad8ac4551601192a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Container::value_type</type>
      <name>value_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>ac28b2efb64770bd1511b1c00f806f266</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>a57177e9a198d00c11c04e77d89d5409d</anchor>
      <arglist>(Class &amp;cl) const</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static boost::python::object</type>
      <name>base_get_item</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>a7412ae8f4d0c5963938e48242151fa27</anchor>
      <arglist>(boost::python::back_reference&lt; Container &amp;&gt; container, PyObject *i_)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static index_type</type>
      <name>convert_index</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__map.html</anchorfile>
      <anchor>adf5cbb754389182057048fb11fd1f703</anchor>
      <arglist>(Container &amp;, PyObject *i_)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::details::overload_base_get_item_for_std_vector</name>
    <filename>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>Container::value_type</type>
      <name>data_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</anchorfile>
      <anchor>a5aae23f2534fe653e10757befa854d04</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>size_t</type>
      <name>index_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</anchorfile>
      <anchor>a1efc9d1b420d5b3fc9236305a46be2a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Container::value_type</type>
      <name>value_type</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</anchorfile>
      <anchor>a72ec11305d550b2c22dfa3a6990212c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</anchorfile>
      <anchor>a792ea975107f4e8370f1b4197d82bee6</anchor>
      <arglist>(Class &amp;cl) const</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static boost::python::object</type>
      <name>base_get_item</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</anchorfile>
      <anchor>ae89bbe1318c5500cbfa9d496e98e63bb</anchor>
      <arglist>(boost::python::back_reference&lt; Container &amp;&gt; container, PyObject *i_)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static index_type</type>
      <name>convert_index</name>
      <anchorfile>structpinocchio_1_1python_1_1details_1_1overload__base__get__item__for__std__vector.html</anchorfile>
      <anchor>af9f547ba88d1934aa9f6ce08a694b720</anchor>
      <arglist>(Container &amp;container, PyObject *i_)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::panda3d_visualizer::Panda3dVisualizer</name>
    <filename>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</filename>
    <base>pinocchio::visualize::base_visualizer::BaseVisualizer</base>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a95583683ab7119254b9c117802f9409a</anchor>
      <arglist>(self, q=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a147c2e82c2efbbbae3a5c2e5bb0c47c8</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayVisuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>ae4095a3994e5568dc0b34a1cb10e1f5a</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getViewerNodeName</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a8ba0c2ccbc75fd6a4cdf255de3d49be5</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initViewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a575b84be094e444f22082995b88b7650</anchor>
      <arglist>(self, viewer=None, load_model=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerModel</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>aa6d789817cb443bdb60cbd274716393d</anchor>
      <arglist>(self, group_name, color=None)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_group</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a29ce218ae34de30453c8afe6817e89a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display_collisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>ad580601123c665180bfea2018891c031</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display_visuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a6c0af092821b5c852c99458031885c9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>a5624edb47a4d9a099b3b7e7a1ff983f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_group</name>
      <anchorfile>classpinocchio_1_1visualize_1_1panda3d__visualizer_1_1Panda3dVisualizer.html</anchorfile>
      <anchor>af1c8fb252a24f5d9f027b06617c86d6b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::PandaLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1PandaLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1PandaLoader.html</anchorfile>
      <anchor>aed91e49d1b42a56faecc61ffa8189312</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1PandaLoader.html</anchorfile>
      <anchor>a4cb76187e13445eec82250f20fa29aa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1PandaLoader.html</anchorfile>
      <anchor>a901f67a34247c89f3b5a97832986216b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pendulum::Pendulum</name>
    <filename>classpendulum_1_1Pendulum.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a768a13bf007f8d3a5592491811d711d7</anchor>
      <arglist>(self, nbJoint=1)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>createPendulum</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a79f49d84a4b656774cfb219e4e786b0f</anchor>
      <arglist>(self, nbJoint, rootId=0, prefix=&apos;&apos;, jointPlacement=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a10b6776894fd10c2c2c02e20c68385dd</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>dynamics</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>ae2f5e4823850fc268af95767ed82eeee</anchor>
      <arglist>(self, x, u, display=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nobs</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a600faba719b319c21c00575732716697</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nq</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a4c7da41c3ae5ac55ace3eb844fb0ce6c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nu</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a04a054b0a400696d51bda70e4e250763</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nv</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a0cfa0cfde9209fc9596caef6a3b0f6e5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nx</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>ae26d68f16f45fb15b4e93d9c94da49b0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>obs</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>aadc8c8974c400f0511d9d5384548f7cc</anchor>
      <arglist>(self, x)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>render</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>ac474de1505f9a378f281b553d1e488b2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>reset</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a702ab263e4c231e92d485711f50d5f04</anchor>
      <arglist>(self, x0=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>step</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a0cf00096ef74a69342007c6e2973496c</anchor>
      <arglist>(self, u)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>tip</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>aa33be996221bb9a3d8fe7d6cb1d01073</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a3157cd59c5f55a94a7898314c3438e8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>DT</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a6b26d72c16bd06a5436d2ae9e0bb18b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Kf</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a88f303fbbeaad8797786f42d41818ba9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>afb80ab0820fca0dcafbaf486868ea72b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NDT</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>aeaacc99e7002fce99b011f014d5aedc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>afa56b69bb7b69228e369e17e5f7c5b91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a5f7ecad463b66f7039c1dc59863d054b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>umax</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>ad4d7f1c05a200687ac3eae489f77b4c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a48d740d7e10556a5cc53030bf6152dc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visuals</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>a4512756c1983673773fa450328767ed1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vmax</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>af6d26686c6e83358df5438c0da1e5a3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>withSinCos</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>ac5b99260c91b8c22919675c66de8d941</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classpendulum_1_1Pendulum.html</anchorfile>
      <anchor>ad1ff840d918be2fa9ee19dd01a1eb1ab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::PerformStYSInversion</name>
    <filename>structpinocchio_1_1internal_1_1PerformStYSInversion.html</filename>
    <templarg></templarg>
    <templarg>is_floating_point</templarg>
    <member kind="function" static="yes">
      <type>static EIGEN_STRONG_INLINE void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1PerformStYSInversion.html</anchorfile>
      <anchor>ad64851315ab61c2e5b20e94ea1814b96</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M1 &gt; &amp;StYS, const Eigen::MatrixBase&lt; M2 &gt; &amp;Dinv)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::PerformStYSInversion&lt; Scalar, false &gt;</name>
    <filename>structpinocchio_1_1internal_1_1PerformStYSInversion_3_01Scalar_00_01false_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static EIGEN_STRONG_INLINE void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1internal_1_1PerformStYSInversion_3_01Scalar_00_01false_01_4.html</anchorfile>
      <anchor>ac266fca3eafdc0db428d2f606d1286cb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M1 &gt; &amp;StYS, const Eigen::MatrixBase&lt; M2 &gt; &amp;Dinv)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::ForcePythonVisitor::Pickle</name>
    <filename>structpinocchio_1_1python_1_1ForcePythonVisitor_1_1Pickle.html</filename>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>ade340404b20c1ade412f0775fe266f00</anchor>
      <arglist>(const Force &amp;f)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1ForcePythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a157876b7047b25116947ec5a82e9302b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::InertiaPythonVisitor::Pickle</name>
    <filename>structpinocchio_1_1python_1_1InertiaPythonVisitor_1_1Pickle.html</filename>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>aa71f266d43ea1a877b3fb8e56b9e12c8</anchor>
      <arglist>(const Inertia &amp;I)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1InertiaPythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a386cc29b60f78f90a1e308fbb4673cb7</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::MotionPythonVisitor::Pickle</name>
    <filename>structpinocchio_1_1python_1_1MotionPythonVisitor_1_1Pickle.html</filename>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a8b6b103be8c014db59cfb83cf2ae635a</anchor>
      <arglist>(const Motion &amp;m)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1MotionPythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>ac5aa2e4e4a09a759629ceaaba49cae7f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::SE3PythonVisitor::Pickle</name>
    <filename>structpinocchio_1_1python_1_1SE3PythonVisitor_1_1Pickle.html</filename>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>ae698625a1a0e5de3c0177433af2bd033</anchor>
      <arglist>(const SE3 &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a2408fcca637a3c4651618b4693948abc</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::FramePythonVisitor::Pickle</name>
    <filename>structpinocchio_1_1python_1_1FramePythonVisitor_1_1Pickle.html</filename>
    <member kind="function" static="yes">
      <type>static bp::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1FramePythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a4dec1001e50b80b40754257c7431b347</anchor>
      <arglist>(const Frame &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bp::tuple</type>
      <name>getstate</name>
      <anchorfile>structpinocchio_1_1python_1_1FramePythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a5b60a365b6ca88429a8c6c59e2c503eb</anchor>
      <arglist>(const Frame &amp;f)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1FramePythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>a66a60ba834c27948cf88fda5bfc01cf5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setstate</name>
      <anchorfile>structpinocchio_1_1python_1_1FramePythonVisitor_1_1Pickle.html</anchorfile>
      <anchor>af1e92a64864858708effc5e049ce13d4</anchor>
      <arglist>(Frame &amp;f, bp::tuple tup)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::PickleData</name>
    <filename>structpinocchio_1_1python_1_1PickleData.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static bp::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleData.html</anchorfile>
      <anchor>a3fb778cc57654a2fb3af30de63d9f62e</anchor>
      <arglist>(const Data &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bp::tuple</type>
      <name>getstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleData.html</anchorfile>
      <anchor>ab0aae01ac20cf4987199413979fead48</anchor>
      <arglist>(const Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleData.html</anchorfile>
      <anchor>a793144392108be3ae56b730371362eb4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleData.html</anchorfile>
      <anchor>a70d51a6254d6a15b2ef2e203022bcdfe</anchor>
      <arglist>(Data &amp;data, bp::tuple tup)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::PickleMap</name>
    <filename>structpinocchio_1_1python_1_1PickleMap.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleMap.html</anchorfile>
      <anchor>a955f8eac5e18ac750c9dac2cea353f17</anchor>
      <arglist>(const MapType &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleMap.html</anchorfile>
      <anchor>a47b751b4dbbe6f7127b14bd1925b4e9c</anchor>
      <arglist>(boost::python::object op)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleMap.html</anchorfile>
      <anchor>abef51fde66cc41546a4b06e8175b6b9a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleMap.html</anchorfile>
      <anchor>a4e324a1ab72b5d3f927f1d44fe8da2d5</anchor>
      <arglist>(bp::object op, bp::tuple tup)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::PickleModel</name>
    <filename>structpinocchio_1_1python_1_1PickleModel.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static bp::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleModel.html</anchorfile>
      <anchor>a890d2131862ce46ccf13590e37e7a95a</anchor>
      <arglist>(const Model &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bp::tuple</type>
      <name>getstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleModel.html</anchorfile>
      <anchor>a8bf4c00614cf37aa6c81fd0dafdc6639</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleModel.html</anchorfile>
      <anchor>ae5482ff188827f569583e62a187c515e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleModel.html</anchorfile>
      <anchor>afc559f4369679d3b6115dd92151dc438</anchor>
      <arglist>(Model &amp;model, bp::tuple tup)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::PickleVector</name>
    <filename>structpinocchio_1_1python_1_1PickleVector.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getinitargs</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleVector.html</anchorfile>
      <anchor>ac971ff92c6e04c5f1603debfd0422e62</anchor>
      <arglist>(const VecType &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static boost::python::tuple</type>
      <name>getstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleVector.html</anchorfile>
      <anchor>a0f071a9f0bbf3143b4f1da4800069669</anchor>
      <arglist>(boost::python::object op)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>getstate_manages_dict</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleVector.html</anchorfile>
      <anchor>a0144a170193e7d0dcf8eab682b9ab843</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setstate</name>
      <anchorfile>structpinocchio_1_1python_1_1PickleVector.html</anchorfile>
      <anchor>afb0a2f9002f7502c986e9859c71845c1</anchor>
      <arglist>(boost::python::object op, boost::python::tuple tup)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>test_case::PinocchioTestCase</name>
    <filename>classtest__case_1_1PinocchioTestCase.html</filename>
    <member kind="function">
      <type>def</type>
      <name>assertApprox</name>
      <anchorfile>classtest__case_1_1PinocchioTestCase.html</anchorfile>
      <anchor>a3b4d867dd1db5a3ba64c5f0fad330e57</anchor>
      <arglist>(self, a, b, eps=1e-6)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>PinocchioTicToc</name>
    <filename>structPinocchioTicToc.html</filename>
    <member kind="enumvalue">
      <name>MS</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485af5bc82d72f814fc60d08a18b09fac0d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NS</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485a3c5dfbb8189c63e70a608cd4dd7d41cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>S</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485a87f1194bb54c1f9675e562193f53da82</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Unit</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>S</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485a87f1194bb54c1f9675e562193f53da82</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MS</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485af5bc82d72f814fc60d08a18b09fac0d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>US</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485a3464f14bfde94e2e0b6bf528cf4eac8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NS</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485a3c5dfbb8189c63e70a608cd4dd7d41cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>US</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a21d636e306ebc8105d7619665c022485a3464f14bfde94e2e0b6bf528cf4eac8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PinocchioTicToc</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>ad44025edc3d777e773bf13f445925f9b</anchor>
      <arglist>(Unit def=MS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>tic</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a1bf966132386159cd2b0657d53139656</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>toc</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a2d21a1fe68e8a9d8f40fb2da0a4eae3d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>toc</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a46b6be5b795aaa3c33971efda0a2e2d5</anchor>
      <arglist>(const Unit factor)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>toc</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>ab28176838125486b418bb6a9a948995f</anchor>
      <arglist>(std::ostream &amp;os, double SMOOTH=1)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>unitName</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>a74c44553abf05c6bb332ab5ba5cf07f3</anchor>
      <arglist>(Unit u)</arglist>
    </member>
    <member kind="variable">
      <type>Unit</type>
      <name>DEFAULT_UNIT</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>ad5ebcc9155765c48738dd71a69125e52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::stack&lt; struct timeval &gt;</type>
      <name>stack</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>adb719d72414939ac2b8daf993571d73f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>struct timeval</type>
      <name>t0</name>
      <anchorfile>structPinocchioTicToc.html</anchorfile>
      <anchor>aa729af88a6819272f81f70e0e7870b19</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::fix::Eigen::internal::plain_matrix_type_row_major</name>
    <filename>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>Rows</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2a42f0d9ba72a0850891e07016d98c05e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Cols</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2aae41d309f7fbbf2652ac4b9b50d08068</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MaxRows</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2a605f7f110b1e66b620352470dc7b556c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MaxCols</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2a1c1d38fb7ad4cd44f681308096d7b17d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Cols</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2aae41d309f7fbbf2652ac4b9b50d08068</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MaxCols</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2a1c1d38fb7ad4cd44f681308096d7b17d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MaxRows</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2a605f7f110b1e66b620352470dc7b556c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Rows</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>ac7cd11b69ef555077c7d62fc465bc3d2a42f0d9ba72a0850891e07016d98c05e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>::Eigen::Matrix&lt; typename ::Eigen::internal::traits&lt; T &gt;::Scalar, Rows, Cols,(MaxCols==1 &amp;&amp;MaxRows!=1) ? ::Eigen::ColMajor :::Eigen::RowMajor, MaxRows, MaxCols &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1fix_1_1Eigen_1_1internal_1_1plain__matrix__type__row__major.html</anchorfile>
      <anchor>af64cd2e1aca67667be8b1e0afb7a50d3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>continuous::PolicyNetwork</name>
    <filename>classcontinuous_1_1PolicyNetwork.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a88fea6ecd9bbbe9a3bbbe239b6458e8c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setupOptim</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>ac075223a8b44259e618faf4aafc9f6f2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setupTargetAssign</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a3c96a26073e43faa5155218ed1800c32</anchor>
      <arglist>(self, nominalNet, tau=UPDATE_RATE)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a206329fc49fd62084ec64b0c07a2055d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>policy</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a2410ea8ee6e88a2f4bec0038f4c73c63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qgradient</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a7cfe06d6d6740537ad927396dbb15686</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>update_variables</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a488d20833c5b874ffaee97f66c6a34d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>variables</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>aa662e4210f582df703de9f47be4ad004</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classcontinuous_1_1PolicyNetwork.html</anchorfile>
      <anchor>a51e0f36846fa813f120109a4d728f7a3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::PrintableVisitor</name>
    <filename>structpinocchio_1_1python_1_1PrintableVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1PrintableVisitor.html</anchorfile>
      <anchor>a2983a647d1be63b7b0d27b0db304608c</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::quaternion::internal::quaternionbase_assign_impl</name>
    <filename>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl.html</filename>
    <templarg></templarg>
    <templarg>value</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; ::casadi::Matrix&lt; _Scalar &gt;, false &gt;</name>
    <filename>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01_1_1casadi_1_1Matr9b91caed518cf5e1f50c719f57a4e9f6.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; _Scalar &gt;</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01_1_1casadi_1_1Matr9b91caed518cf5e1f50c719f57a4e9f6.html</anchorfile>
      <anchor>a9717bb5ec0a6ac751dcdcb504b640630</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01_1_1casadi_1_1Matr9b91caed518cf5e1f50c719f57a4e9f6.html</anchorfile>
      <anchor>a6493c063fc2bc8ae581e05ea668f7843</anchor>
      <arglist>(Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;q, const Matrix3 &amp;mat)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; CppAD::AD&lt; _Scalar &gt;, false &gt;</name>
    <filename>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01CppAD_1_1AD_3_01__Scalar_01_4_00_01false_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>CppAD::AD&lt; Scalar &gt;</type>
      <name>ADScalar</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01CppAD_1_1AD_3_01__Scalar_01_4_00_01false_01_4.html</anchorfile>
      <anchor>a507192a080c073cf9016a9514f5037cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01CppAD_1_1AD_3_01__Scalar_01_4_00_01false_01_4.html</anchorfile>
      <anchor>a54bd657808fb45494b53596a3ee2780d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01CppAD_1_1AD_3_01__Scalar_01_4_00_01false_01_4.html</anchorfile>
      <anchor>a9fce34e12274a18a08d9a8c5bbc2b8d6</anchor>
      <arglist>(Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;q, const Matrix3 &amp;mat)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; Scalar, true &gt;</name>
    <filename>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01Scalar_00_01true_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl_3_01Scalar_00_01true_01_4.html</anchorfile>
      <anchor>a3ec28fe3ea2f63e170c539eb1618ac66</anchor>
      <arglist>(Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;q, const Matrix3 &amp;mat)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_negative</name>
    <filename>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl__if__t__negative.html</filename>
    <templarg>i</templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl__if__t__negative.html</anchorfile>
      <anchor>add246a4713ae5f4685aa8bf9ac58ed3d</anchor>
      <arglist>(Scalar t, Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;q, const Matrix3 &amp;mat)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_positive</name>
    <filename>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl__if__t__positive.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1quaternion_1_1internal_1_1quaternionbase__assign__impl__if__t__positive.html</anchorfile>
      <anchor>aa19fbdc4ac3b9cf9997174db620d7a24</anchor>
      <arglist>(Scalar t, Eigen::QuaternionBase&lt; QuaternionDerived &gt; &amp;q, const Matrix3 &amp;mat)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>continuous::QValueNetwork</name>
    <filename>classcontinuous_1_1QValueNetwork.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a5524e28b97da9ab1f02897cfa09d77bb</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setupOptim</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>afb9ddea71a4b42cccc99c1aa5e4f8124</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setupTargetAssign</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a39e0c0b29a9eed48614d075f058d162a</anchor>
      <arglist>(self, nominalNet, tau=UPDATE_RATE)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gradient</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a515ac31015577ca33ec263a8f9ccdc43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>hidens</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a6456cfb79fe99e3c1959db3af3239571</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>aef6386944b2b5ee9c4a19ff60af884dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qref</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a234e7aff9b1335f746085f813dc26826</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalue</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a55e513b8bcefdf83b31529d820e8240b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>ae23d2cb5fb4789bed262855726fab386</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>update_variables</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>ac587ee4b0f80b636d01728a68a8afb61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>variables</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a4ececd4707269b8bfbbbcd331d4b94ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classcontinuous_1_1QValueNetwork.html</anchorfile>
      <anchor>a880ea4b1d19a7bbba8d77bb73b374f4a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>qnet::QValueNetwork</name>
    <filename>classqnet_1_1QValueNetwork.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classqnet_1_1QValueNetwork.html</anchorfile>
      <anchor>ace714b957380a7baabe4c60d3bf20b80</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>classqnet_1_1QValueNetwork.html</anchorfile>
      <anchor>ad3aac27f7f7aee10af8b1b3f94d2f97b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qref</name>
      <anchorfile>classqnet_1_1QValueNetwork.html</anchorfile>
      <anchor>ae4564d6b35a56b13920339b535cbd956</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalue</name>
      <anchorfile>classqnet_1_1QValueNetwork.html</anchorfile>
      <anchor>a1a5406ab007fa992e27a6d05c2ad3a68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>classqnet_1_1QValueNetwork.html</anchorfile>
      <anchor>a59a76f7bd7cdc225498178ab8c82f273</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classqnet_1_1QValueNetwork.html</anchorfile>
      <anchor>a98bd41ee3887c1f0c609a8f0a73cc33f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>continuous::ReplayItem</name>
    <filename>classcontinuous_1_1ReplayItem.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontinuous_1_1ReplayItem.html</anchorfile>
      <anchor>aeff6672d5f1b24ab639196268eaf335d</anchor>
      <arglist>(self, x, u, r, d, x2)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>done</name>
      <anchorfile>classcontinuous_1_1ReplayItem.html</anchorfile>
      <anchor>a0876f24d8cfc1642997686d8955b9f87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reward</name>
      <anchorfile>classcontinuous_1_1ReplayItem.html</anchorfile>
      <anchor>ac6039c3ec73c0f9cfef706208114dcb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>classcontinuous_1_1ReplayItem.html</anchorfile>
      <anchor>a3ee26dd24c9c000a0dd361a2979c2465</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classcontinuous_1_1ReplayItem.html</anchorfile>
      <anchor>aeb4592e43f27974dc5d47aa2c9085f78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>classcontinuous_1_1ReplayItem.html</anchorfile>
      <anchor>ab2e9ecb68db8a676f1a1fd2f03e4f4d0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::math::internal::return_type_max&lt; ::casadi::Matrix&lt; Scalar &gt;, T &gt;</name>
    <filename>structpinocchio_1_1math_1_1internal_1_1return__type__max_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_01T_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; Scalar &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1return__type__max_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_00_01T_01_4.html</anchorfile>
      <anchor>a1d89080f3cf03e00837037227759534f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::math::internal::return_type_max&lt; ::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1math_1_1internal_1_1return__type__max_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_587a2d5a913bfb2a91345fde5f100652.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; Scalar &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1return__type__max_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_587a2d5a913bfb2a91345fde5f100652.html</anchorfile>
      <anchor>a080636c07dc79b96ac86fe168b55350c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::math::internal::return_type_max&lt; T,::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1math_1_1internal_1_1return__type__max_3_01T_00_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>::casadi::Matrix&lt; Scalar &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1math_1_1internal_1_1return__type__max_3_01T_00_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a329358e2935f3c1cfed79344e1ec030a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::RHSScalarMultiplication</name>
    <filename>structpinocchio_1_1internal_1_1RHSScalarMultiplication.html</filename>
    <templarg>Type</templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>Type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1RHSScalarMultiplication.html</anchorfile>
      <anchor>a8729fe2e2ba8334f289b3ce97eae7380</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::RHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, Scalar &gt;</name>
    <filename>structpinocchio_1_1internal_1_1RHSScalarMultiplication_3_01MotionRef_3_01Vector6ArgType_01_4_00_01Scalar_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>pinocchio::traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::MotionPlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1RHSScalarMultiplication_3_01MotionRef_3_01Vector6ArgType_01_4_00_01Scalar_01_4.html</anchorfile>
      <anchor>a271883d8218a790c0a1a7fc4feab9f3a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>robot_hand::Robot</name>
    <filename>classrobot__hand_1_1Robot.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>aeb6e51873d233f3fc54bda26826c4507</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>checkCollision</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a6fc2fe0bd0e3ba4dfaa4db46bc39df76</anchor>
      <arglist>(self, pairIndex)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>collisionJacobian</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a32f4d3a4c81230b2c6c62ec4d609ac61</anchor>
      <arglist>(self, pairIndex, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>createHand</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a2998c10f2f453c5fec655133ec3ad955</anchor>
      <arglist>(self, root_id=0, prefix=&apos;&apos;, joint_placement=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a660dd541558512bc7022038eec4d5f9b</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollision</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a3a4ef3e065e48a36c710525f3cd56899</anchor>
      <arglist>(self, pairIndex, meshIndex, onlyOne=False)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collisionPairs</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a353a5917d6b461e699cd1f5a1de0d01a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>ae3ca75264dcc81e60e613d27eafc7448</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>ac0818c9498086613d2216ee8c9c6a464</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>a1b5b4aa38a6ad1ed66c2715665064d18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>aa73ac8382c17b93bf74a4129fb676444</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>ae6ebd363bfaa93168f87fb0084cde3f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visuals</name>
      <anchorfile>classrobot__hand_1_1Robot.html</anchorfile>
      <anchor>abecc620f86fc77505e0186afe408707a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>simple_model::RobotDisplay</name>
    <filename>classsimple__model_1_1RobotDisplay.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classsimple__model_1_1RobotDisplay.html</anchorfile>
      <anchor>a3c5eff9d3460c141a3080c8dce7f30bf</anchor>
      <arglist>(self, window_name=&quot;pinocchio&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>place</name>
      <anchorfile>classsimple__model_1_1RobotDisplay.html</anchorfile>
      <anchor>af786429a056dac8d78c57eba5d3c149b</anchor>
      <arglist>(self, obj_name, m)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classsimple__model_1_1RobotDisplay.html</anchorfile>
      <anchor>accb11bd0d5abd989e7f95d707bc971a0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::RobotLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a2caccbf1652e674b23271ee5f12de072</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>addFreeFlyerJointLimits</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a790ea4c24f3315c840ffc929f8f00afb</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>df_path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>aabc5e09be8dca136c8bbdf2ed922360c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a38289d8c860022357ae900af6160c47e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>srdf_path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>acc9582a1f6b733d53e4afbd1c2f7d28e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>ab1da312cf46c16f556714799aa32adbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>has_rotor_parameters</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a4d509c5e0238775084535989628175fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type></type>
      <name>model_path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>abd0dbeab6eb3e672989f95ac52b98be2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a8bf5d0a33934c419719fe7ff1f58e900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>af69d7540d5c3936579176aed54c34d49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>sdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>abf879e0abea79c95ea9ce194683c0e4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>list</type>
      <name>sdf_parent_guidance</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a4c6a5fe14212e57cecbb88b9125f3c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>sdf_root_link_name</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a8668031880e9af788de66d4eac3ff997</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>sdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>aceb563da3fcd732d69e3643f3a26d1c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a486f0e46e1e430d4fac7d0b8bdcaca3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a1a099f807febabe172ee7af4e50245ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a86bcaa27f61ec7f02fff7f9c6987deae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a403ed7bc4c92a766253aa34d8c5477db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>verbose</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RobotLoader.html</anchorfile>
      <anchor>a3453d011c6f4c2eff5d52cc0814d01da</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>test_load::RobotTestCase</name>
    <filename>classtest__load_1_1RobotTestCase.html</filename>
    <member kind="function">
      <type>def</type>
      <name>check</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a8c96d49249b4e5ec4d04e844a2dfdb65</anchor>
      <arglist>(self, name, expected_nq, expected_nv, one_kg_bodies=[])</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>check_pybullet</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a118026985fd3678baf28c7f24ce0601f</anchor>
      <arglist>(self, urdf, one_kg_bodies)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_a1</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a26bfab281ecd750daf054817115421f9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_anymal</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ae29acc08f1dd0310423c2d6c2a5924bf</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_anymal_kinova</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a476b41d1ebd1e869b5ac14ac042ee593</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_asr</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a82319d9d68a82752ff9543a47b5394a5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_baxter</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a4207a3400cd985dc1454d0386a198555</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_bolt</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a9abb3dfe23184d7ef6f4e16597242d0f</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_cassie</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ac148f2b1f4c3062fc2adc11ef6237a41</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_double_pendulum</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>adceac4dbac4f6eda91464f4f4b0fdd7d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_double_pendulum_continuous</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a6b5419c802b228c5bc7e2246c7a2813b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_double_pendulum_simple</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>acb6606efdca6ea4e8c0f7297267fd975</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_finger_edu</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a52432775d35702a62421cff2ec6cf29c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_hector</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a1d4b77bd4a504d34c9388190cd6d5de1</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_hyq</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a038de2403b5fe0adf3fd6de659ca7f94</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_icub</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ad4956d11fdacb5c720226dd0578a6337</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_icub_reduced</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a0ec9748bc78d81f1cca87cd14eced3d9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_iris</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>abd656aa2dad2de61e48d14bcf6ec0174</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_kinova</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a01601626a141deddd73dbb232832b15d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_laikago</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ad7d54e304a7cee53c4c6d9b8f023577a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_panda</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a695977a09ce989a08ee51788038103a6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_romeo</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a53b50eeab8f4b8bf437792b04fb2f170</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_simple_humanoid</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a44dc0265cacd6c78d7bbcd2cda14bd3e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_simple_humanoid_classical</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a7777933a43df61c74dd66fd5c8f35dce</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_solo12</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ae7d7e64643aa0b7425f374aa469be1b6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_solo8</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a1b2c7cdf8ee7544c4c2f4377286a9617</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_talos</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a51d33aa1aa75cffc63781c869179e619</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_talos_arm</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a2eace182519d200e236ee7f606090805</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_talos_box</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a1bb580a611edbf877cf123a1e30662fd</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_talos_full</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a5685770a71db59f6de0d1f61a8b4a5d6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_talos_full_box</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>abf5172ad0974b7b021260f5684669943</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_talos_legs</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a35a9a577ab6c1594e1339d9a342e5d02</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_tiago</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a930441ff221c4a622dec994e51c46c8a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_tiago_dual</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ab779132021226eabbbbfaec3592c08c3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_tiago_no_hand</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>ae27c0adb178de772844a9d39c5b956d0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur10</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a3941c02cdf71f2bb54cf1c1763de8567</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur10_limited</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a57e297bb73f1a4fc44c929534e8455e3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur3</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a4c59101ddcbdfe20fb8cf7fb3374e584</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur3_gripper</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>af347c3f0c7970bb3f6b12940ec2d12c8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur3_limited</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>aadf0899fc44caa0655b4495252f8eddc</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur5</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a2b6b1c2499be7850622717935b6aa0e3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur5_gripper</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>a92436b51c7d1437815bdfee44b2e3d5b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_ur5_limited</name>
      <anchorfile>classtest__load_1_1RobotTestCase.html</anchorfile>
      <anchor>adfec98cb20b6c0fa5c13c2e83e577dcb</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::robot_wrapper::RobotWrapper</name>
    <filename>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>acc51b64d8ee39c5a56f283ee6938ec79</anchor>
      <arglist>(self, model=pin.Model(), collision_model=None, visual_model=None, verbose=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>acceleration</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a36e7e401e3c1cd08cf8f7cc6b335374a</anchor>
      <arglist>(self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>acom</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>afb2e764589d8bfdd5499d4da7dc2d823</anchor>
      <arglist>(self, q, v, a)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>buildReducedRobot</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aef341b27b4709b03c93d66c8c196bc0f</anchor>
      <arglist>(self, list_of_joints_to_lock, reference_configuration=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>centroidal</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aa5a0896dfd1d050e21b8694e4d10c6f5</anchor>
      <arglist>(self, q, v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>centroidalMap</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a61e3594aed844ef83d410aa36d11f0fb</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>centroidalMomentum</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a18ff046ed45dfef223b2dd1c86701482</anchor>
      <arglist>(self, q, v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>centroidalMomentumVariation</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ab10be6c8f27f37afd716d33c7e83e05c</anchor>
      <arglist>(self, q, v, a)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>classicalAcceleration</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a5b96501ef212f849070167880fddb70f</anchor>
      <arglist>(self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>com</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a944b1fc1d6efba082003508c55f0e556</anchor>
      <arglist>(self, q=None, v=None, a=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeFrameJacobian</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a6006274032f7fc8d5b4fe7f4a8906ce9</anchor>
      <arglist>(self, q, frame_id)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeJointJacobian</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ac1f4ef646c3c576e7a8c1f358e787aff</anchor>
      <arglist>(self, q, index)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeJointJacobians</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>af2d669e9e7e58032cb9351f62497683b</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>af5152ed6962f34a66b73b679eb9ce92d</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollisions</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a561c0682b32c62e383ff86893c37f5c9</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayVisuals</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ab43c8d0bd4eed9b4a5946f4a7ab4a58c</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>forwardKinematics</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ab4fd148921e61565cebb1f4d09f739b8</anchor>
      <arglist>(self, q, v=None, a=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameAcceleration</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a91854bff1676d892a0e02eb829349d37</anchor>
      <arglist>(self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameClassicAcceleration</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ae717ad858b966dda372d96a18e8a769f</anchor>
      <arglist>(self, index)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameClassicalAcceleration</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>afdb962832a61c766e780afef845e6f30</anchor>
      <arglist>(self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameJacobian</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>adb9f7177d41d471f2897b3415b6c1203</anchor>
      <arglist>(self, q, frame_id)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>framePlacement</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a4cbb34a48a497ade393bf8f7efb12335</anchor>
      <arglist>(self, q, index, update_kinematics=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>framesForwardKinematics</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ae69c0c2a50850b74b356ab033c03ba5a</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameVelocity</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ab54f48ed7c1b6173efa1a3c510c8bd8d</anchor>
      <arglist>(self, q, v, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getFrameJacobian</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a4509d377cb83f36d5147d2ff1216efd0</anchor>
      <arglist>(self, frame_id, rf_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getJointJacobian</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a50d2f3c1a357a601c1859a848026f1fa</anchor>
      <arglist>(self, index, rf_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getViewerNodeName</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ac38197b0362e988c806f2b34d42f3763</anchor>
      <arglist>(self, geometry_object, geometry_type)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>gravity</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a486b03c30fb42a1ff8ae79fdf1eb5c3b</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>index</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a2d8bcba4b11aaece8f7008617bf83811</anchor>
      <arglist>(self, name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initDisplay</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a65338e0602e6d382458078138a9fd970</anchor>
      <arglist>(self, windowName=&quot;python-pinocchio&quot;, sceneName=&quot;world&quot;, loadModel=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initFromURDF</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a46b3debe49f299df578c09d762127d2c</anchor>
      <arglist>(self, filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initMeshcatDisplay</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aa09b239970f752bec4a786388ac26ae2</anchor>
      <arglist>(self, meshcat_visualizer, robot_name=&quot;pinocchio&quot;, robot_color=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initViewer</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a91192fa2e708f06064cc824c23584417</anchor>
      <arglist>(self, share_data=True, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Jcom</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a048df5b94a2588d362d8048288963df0</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jointJacobian</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a31e3a4719271838fecb4744630b98714</anchor>
      <arglist>(self, q, index)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadDisplayModel</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a271aa22e2049b1a524a1abc41ba52e47</anchor>
      <arglist>(self, rootNodeName=&quot;pinocchio&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerModel</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ae7f83db968e0c7d64e9d7c31d3c6d539</anchor>
      <arglist>(self, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>mass</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aa0f534c3e9675dc2b10db12ce2ce50e0</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nle</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ab2d8a94a51fdf0c75c1903dc53a979f1</anchor>
      <arglist>(self, q, v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nq</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a0d442801e9c64b18e3af14d0a0ad8b36</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>nv</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ab8e5c005ebb5c25ec5e161dd6f305ecf</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>placement</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>af03511957a46400666496b15c21dcebc</anchor>
      <arglist>(self, q, index, update_kinematics=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>play</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>acd971bdff709539be38cd05a256ef255</anchor>
      <arglist>(self, q_trajectory, dt)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rebuildData</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aadedf4f7e4bef0f0c79e3d5fc26e905c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setVisualizer</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a4cc0aec898ecd02fc3294fd10f2afd45</anchor>
      <arglist>(self, visualizer, init=True, copy_models=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>updateGeometryPlacements</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a66fd548c4adb14d655a2c81b799c69f2</anchor>
      <arglist>(self, q=None, visual=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>vcom</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aacda4888bc80449859d0720753c7182b</anchor>
      <arglist>(self, q, v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>velocity</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>ae7f876a3465510ee2d5e4b29cc04177d</anchor>
      <arglist>(self, q, v, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>viewer</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a0b4dfdb495787e6dde14a9ff9f890eff</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>def</type>
      <name>BuildFromURDF</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>af2625629948f539d030eaf2ed1d5d755</anchor>
      <arglist>(filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_data</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a1f49e8dc7e860307f1957bf7ab61b2e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>acbcd2e56841b337621e2167c5b1b0dd5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a0f253ca9a790d4a19b8df79aa42fe62b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a97e97a453f1691282b3678c9e5a44035</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a2297231d2463515234555cfe0fa22eb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a043b5239e9185ccb6619b9602f14dfa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_data</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>aaa283c3174458e2e6e4841362286c250</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a8c2421775e53f5477034faceb1916657</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>classpinocchio_1_1robot__wrapper_1_1RobotWrapper.html</anchorfile>
      <anchor>a217848e0efccadfce370d8dffde92e8c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::RomeoLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1RomeoLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RomeoLoader.html</anchorfile>
      <anchor>af49990b3648eec30642fb43f9b1752b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RomeoLoader.html</anchorfile>
      <anchor>abc30b8d50fc3d5b2e076b63edb047006</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RomeoLoader.html</anchorfile>
      <anchor>a82e0ddedacfc06159b85165f4e1a9119</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1RomeoLoader.html</anchorfile>
      <anchor>aaecb83dc78c4ab17c77fcaaa941fb42f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::romeo_wrapper::RomeoWrapper</name>
    <filename>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</filename>
    <base>pinocchio::robot_wrapper::RobotWrapper</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a1f2da3fcad0027ef95432c77cb2d65a8</anchor>
      <arglist>(self, filename, package_dirs=None, verbose=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Jlf</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>ab231a07eb1cc6a6fcbea5b31fe319f63</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Jlh</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a81d72f369e913eb906dc5866936fe0a4</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Jrf</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>aa3b5fc0edda34938130588bc7f14ce35</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Jrh</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a33d7505136aba17a519a8f238614174b</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Mlf</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>aa208f2fe60190414f0a61199b56f1a37</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Mlh</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a05d46c27ec6b0e58340470ac9d8823f0</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Mrf</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a3a051ec83923b352aa7be9f02ca4c63b</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Mrh</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a7831caddf1c3571d794a066947ba3fe0</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>vrh</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a7702b5c97c3df21d5021f2f05c532e0c</anchor>
      <arglist>(self, q, v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>wJrh</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>afdfe7f13f4f4d2a04bd5d7381a71ca96</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>opCorrespondances</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>ad5769c7a3befb7babb3c517bf7fee896</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>classpinocchio_1_1romeo__wrapper_1_1RomeoWrapper.html</anchorfile>
      <anchor>a87f7279d539adea392cc03b76fc588cb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType::RowsReturn</name>
    <filename>structpinocchio_1_1SizeDepType_1_1RowsReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>Mat::template ConstNRowsBlockXpr&lt; NV &gt;::Type</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1RowsReturn.html</anchorfile>
      <anchor>a07309db30526f36742affb6b9c077b1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Mat::template NRowsBlockXpr&lt; NV &gt;::Type</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1RowsReturn.html</anchorfile>
      <anchor>a03fe012eac5cf03a62758dca34144ffa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::RowsReturn</name>
    <filename>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1RowsReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>Mat::ConstRowsBlockXpr</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1RowsReturn.html</anchorfile>
      <anchor>ae2142e962d1611035f28f57957c775fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Mat::RowsBlockXpr</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1RowsReturn.html</anchorfile>
      <anchor>a17516b4d5784c0c30609b5b36b8a54bd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::rviz_visualizer::RVizVisualizer</name>
    <filename>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</filename>
    <class kind="class">pinocchio::visualize::rviz_visualizer::RVizVisualizer::Viewer</class>
    <member kind="function">
      <type>def</type>
      <name>clean</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>abc41b6e5ebec8cfb8e2f85be3ee65d69</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>abd135a25958b5ab505df668dd6806fc7</anchor>
      <arglist>(self, q=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollisions</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a0aa07f3bce31295bc8baf730a2eb5f6b</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayVisuals</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a3066e58bb5330f2aa677518c586388fa</anchor>
      <arglist>(self, visibility)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>initViewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a8e9840ca3b4fd3574336864d3fea2c5c</anchor>
      <arglist>(self, viewer=None, windowName=&quot;python-pinocchio&quot;, loadModel=False, initRosNode=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadViewerModel</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a68b3030b2f6379a88fd005d69a064ba6</anchor>
      <arglist>(self, rootNodeName=&quot;pinocchio&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>sleep</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a7ce5e5c9f9859a6f1a2aa464892533e0</anchor>
      <arglist>(self, dt)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_Display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a22f4c10b72e0358e9f19bb9c52a52ef4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_ids</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>ac2491f3efce32690387855cc1b6c0b1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collisions_publisher</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>ad73bcebce7e6f4e0945ea164cd46ebc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>group_Display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a93fb604846e28267233f7d09c88504fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>seq</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a9d8918d7bc61ef5634ae37ab04e053ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a65d7a497f9f4f6bca1dfb2f4d6f9016b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_Display</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>ac7d8d90b9689da08ccf89ca9af5a308c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_ids</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a6750ec3cd03cc858b883194f8901500b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visuals_publisher</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a90e40a7f8db687b80f9e90dded02dc41</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_clean</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a9516dfa3e3fc3519ea3fc3b3f4e89e64</anchor>
      <arglist>(self, publisher)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_plot</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer.html</anchorfile>
      <anchor>a2c4b791a51bdfa5552bbbd807e1226c4</anchor>
      <arglist>(self, publisher, model, data, previous_ids=())</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::scalar_product_traits&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;, boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &gt;</name>
    <filename>structEigen_1_1internal_1_1scalar__product__traits_3_01boost_1_1multiprecision_1_1detail_1_1expr042581789074f476d1784eaafae2fe96.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>ExpressionTemplates</templarg>
    <member kind="typedef">
      <type>boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structEigen_1_1internal_1_1scalar__product__traits_3_01boost_1_1multiprecision_1_1detail_1_1expr042581789074f476d1784eaafae2fe96.html</anchorfile>
      <anchor>a70cc1e4a5dcc6e4fee84a45029d438c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Eigen::internal::scalar_product_traits&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;, boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</name>
    <filename>structEigen_1_1internal_1_1scalar__product__traits_3_01boost_1_1multiprecision_1_1number_3_01Bacb35cd32a2bffa5c67730f7f96a1b1ffb.html</filename>
    <templarg></templarg>
    <templarg>ExpressionTemplates</templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structEigen_1_1internal_1_1scalar__product__traits_3_01boost_1_1multiprecision_1_1number_3_01Bacb35cd32a2bffa5c67730f7f96a1b1ffb.html</anchorfile>
      <anchor>a7d06cf28a60790c0ca0b7124c9a0d4fc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ScalarMatrixProduct</name>
    <filename>structpinocchio_1_1ScalarMatrixProduct.html</filename>
    <templarg>Scalar</templarg>
    <templarg>Matrix</templarg>
    <member kind="typedef">
      <type>const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_multiple_op&lt; Scalar &gt;, const Matrix &gt;</type>
      <name>type</name>
      <anchorfile>structpinocchio_1_1ScalarMatrixProduct.html</anchorfile>
      <anchor>a5205d58ffad996e257feef3fd08a8eb5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ScaledConstraint</name>
    <filename>structpinocchio_1_1ScaledConstraint.html</filename>
    <templarg>Constraint</templarg>
    <base>ConstraintBase&lt; ScaledConstraint&lt; Constraint &gt; &gt;</base>
    <class kind="struct">pinocchio::ScaledConstraint::TransposeConst</class>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ab3d12e905c262b8990e6974c91741033a8f2a58a55c4640adfd9d84bd450039b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintBase&lt; ScaledConstraint &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>afe55d5de8ffab9c8d34bd2164557f4e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ab3d12e905c262b8990e6974c91741033a8f2a58a55c4640adfd9d84bd450039b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3GroupAction&lt; Constraint &gt;::ReturnType</type>
      <name>SE3ActionReturnType</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ab87c976e9de1e4a8d1de6bc46362be4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>JointMotion</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a3bb42b8797ca9e123abffd6167e6140d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Constraint &amp;</type>
      <name>constraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>aca724afc2635a73ca1e261dd38327e09</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Constraint &amp;</type>
      <name>constraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a326c42f3f57aa00d6ba45374162ad83c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ae1ca8641dae3853ba305c043bd26e237</anchor>
      <arglist>(const ScaledConstraint &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>DenseBase</type>
      <name>matrix_impl</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ad9ddad8b272d5c97a1d4b876e79f6948</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MotionAlgebraAction&lt; ScaledConstraint, MotionDerived &gt;::ReturnType</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ac9a3e587ef5e2ed5a8796adbdda8b442</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv_impl</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a15d1c419ee78a39dc2a99c727ebab8c8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ScaledConstraint &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>af0ea9754912ea7ea9fb5cf37d98a6bec</anchor>
      <arglist>(const ScaledConstraint &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ScaledConstraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a1d1ef3f90f3e357d2ed8bbfe383a6463</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ScaledConstraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>acfce7f20fcb363ab30a4c01f943ca890</anchor>
      <arglist>(const Scalar &amp;scaling_factor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ScaledConstraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a217b36400992f672aebedb924e8e418a</anchor>
      <arglist>(const Constraint &amp;constraint, const Scalar &amp;scaling_factor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ScaledConstraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ab8e308ae61b514550d0c4087b00699ce</anchor>
      <arglist>(const ScaledConstraint &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>scaling</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a4374b6695f36d0dd57e74259e6bc7aaf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>scaling</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a7ff3ecba290ec64459cb61bda64382f8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SE3ActionReturnType</type>
      <name>se3Action</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>a741fdf4900fb941c8bde5893c965f9cd</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>SE3ActionReturnType</type>
      <name>se3ActionInverse</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ae8d728a9a5a3191c3b63a91e6323970e</anchor>
      <arglist>(const SE3Tpl&lt; S1, O1 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>TransposeConst</type>
      <name>transpose</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ae9edd7651f86d1ef00032e662d3311c7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Constraint</type>
      <name>m_constraint</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>adc546a87d40923b265e8da378a723735</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_scaling_factor</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint.html</anchorfile>
      <anchor>ae3143cdd2019b95b79c0d68f65b538f3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::SE3actOn</name>
    <filename>structpinocchio_1_1internal_1_1SE3actOn.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::SE3actOn&lt; CppAD::AD&lt; _Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>CppAD::AD&lt; _Scalar &gt;</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>a918e78c5030452137ead63a1605b5a0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>SE3::ActionMatrixType</type>
      <name>action_matrix</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>a94679397d38e7051a01276315f95a535</anchor>
      <arglist>(M.toActionMatrixInverse())</arglist>
    </member>
    <member kind="function">
      <type>SE3::ActionMatrixType</type>
      <name>dual_action_matrix</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>ae8e54988b32fd708323081a9a07f6213</anchor>
      <arglist>(M.toDualActionMatrix())</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>ab893e37fdc610b6ff5de9ae420f52ae2</anchor>
      <arglist>(Matrix6Type) ReturnType</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>a4839ad4618300579763dc8c557bc17df</anchor>
      <arglist>(Matrix6Type) run(const SE3Tpl&lt; Scalar</arglist>
    </member>
    <member kind="variable">
      <type>static Options const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;</type>
      <name>I</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>aec1d4108474009f65ee0e0ab2cd62ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ReturnType</type>
      <name>intermediate_result</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>ad156301b178aab73ff95d716659cb48b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>static Options &amp;</type>
      <name>M</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>a9f1a1b21c27533b6e26390609a157fd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ReturnType</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>a7c7cc78da85b305d6f2c0feacdbe8fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>return</type>
      <name>res</name>
      <anchorfile>structpinocchio_1_1internal_1_1SE3actOn_3_01CppAD_1_1AD_3_01__Scalar_01_4_01_4.html</anchorfile>
      <anchor>a65a24a809a5127e08b446a530da5269d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3Base</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const Derived &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; Derived &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; Derived &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const Derived &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const Derived &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const Derived &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(Derived)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; Derived &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Base&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SE3Tpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const SE3Tpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const SE3Tpl&lt; _Scalar, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const SE3Tpl&lt; _Scalar, _Options &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const SE3Tpl&lt; _Scalar, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(SE3Tpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Base&lt; SE3Tpl&lt; double, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; double, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SE3Tpl&lt; double, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const SE3Tpl&lt; double, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; SE3Tpl&lt; double, _Options &gt; &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; SE3Tpl&lt; double, _Options &gt; &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const SE3Tpl&lt; double, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; SE3Tpl&lt; double, _Options &gt; &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const SE3Tpl&lt; double, _Options &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const SE3Tpl&lt; double, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(SE3Tpl&lt; double, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; SE3Tpl&lt; double, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Base&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const SE3Tpl&lt; Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, _Options &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(SE3Tpl&lt; Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Base&lt; TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt;)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Base&lt; TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt;)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Base&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3Base.html</filename>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a825af7edf4560ef84a00508bee447e51</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a53e9f24b3b0cfecedfbdbe34a481327a</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>TransformTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>aaea11b9e79f00d7d3870659831313269</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TransformTranslationTpl&lt; _Scalar, _Options &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a498e2a52f77fcbdc3de71c8bc4e60386</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad4b2e3592ab5e05b4634af7df745f907</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a623008b4950420211c8ec3168653b8dd</anchor>
      <arglist>(const TransformTranslationTpl&lt; _Scalar, _Options &gt; &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a45d159d4556f548e165c62d66f69ab0d</anchor>
      <arglist>(const typename traits&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;::Scalar &amp;prec=Eigen::NumTraits&lt; typename traits&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;::Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a44828140b2b32faef84d58b0f4cbe13c</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0282c51bb3ba1eaeda4c41ad030e43da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af82ccd4bc080e42bba343b209b278aa9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>abd650770e0f3ef191caf9eff2188932b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a0583e1d1f0bd7eb449afe6464bb3ea61</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab063407c91485bad4054361805f8ccb1</anchor>
      <arglist>(const TransformTranslationTpl&lt; _Scalar, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a9b2be939fc5c044923135c7c5af36086</anchor>
      <arglist>(const TransformTranslationTpl&lt; _Scalar, _Options &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a78fbe2e8486704fac03f19fc241a4852</anchor>
      <arglist>(const TransformTranslationTpl&lt; _Scalar, _Options &gt; &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5a11171eb2c51cf1edfdab73fd2eb2ac</anchor>
      <arglist>(TransformTranslationTpl&lt; _Scalar, _Options &gt;)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ab55c3956101164a06e3cd50951aa51a9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a6da78f60ca7cde1a3809c1adb8d2a22b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>afe03232ef70ead44affd1ea7ce31fb3e</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a99c7911d5d990707196ecdc67cd25e51</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>af9302760847c9496b9f2a81b0edff399</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a913346afcd59a8ffabdb5101695ff46a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a90c2c91338f373b68896a0a93c32ed0e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a5d44c2f405e217e4b1c38fd8f6fd8cc3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>ad47a27468c6fd1489e63e9a963992a08</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a371c936325a61b9bbcdf627b89101f50</anchor>
      <arglist>(const LinearType &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SE3Base.html</anchorfile>
      <anchor>a74e1d65364e3e74beae65c404663fdd1</anchor>
      <arglist>(std::ostream &amp;os, const SE3Base&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt; &amp;X)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction</name>
    <filename>structpinocchio_1_1SE3GroupAction.html</filename>
    <templarg>D</templarg>
    <member kind="typedef">
      <type>D</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction.html</anchorfile>
      <anchor>a0fdb2e72795e1a7465c5f113bfa104f4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; BiasZeroTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01BiasZeroTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>BiasZeroTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01BiasZeroTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a0d773e0d9aaa5de3c31d669b8b3989d4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintIdentityTpl&lt; S1, O1 &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintIdentityTpl_3_01S1_00_01O1_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <member kind="typedef">
      <type>SE3Tpl&lt; S1, O1 &gt;::ActionMatrixType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintIdentityTpl_3_01S1_00_01O1_01_4_01_4.html</anchorfile>
      <anchor>a59cdb9881b580c379d14ef3a703d226a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintPlanarTpl&lt; S1, O1 &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintPlanarTpl_3_01S1_00_01O1_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintPlanarTpl_3_01S1_00_01O1_01_4_01_4.html</anchorfile>
      <anchor>a474630996cb45aea46dc508731eedfa8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a1a8419f13b434c98ef61fff1219ebb61</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a7517bdd4e4dc2d074698733676b9e0b9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a039bff586554d83677768e1b37efaf4e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a69e5cb332b96d4afef31575bd22e7ab2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintSphericalTpl&lt; S1, O1 &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintSphericalTpl_3_01S1_00_01O1_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintSphericalTpl_3_01S1_00_01O1_01_4_01_4.html</anchorfile>
      <anchor>ad0278996f9af043e125ae6a68b9b53c9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintSphericalZYXTpl&lt; S1, O1 &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintSphericalZYXTpl_3_01S1_00_01O1_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintSphericalZYXTpl_3_01S1_00_01O1_01_4_01_4.html</anchorfile>
      <anchor>ae085a7e88d80a115cea7e62192fba11e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintTpl&lt; Dim, Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintTpl_3_01Dim_00_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Dim &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintTpl_3_01Dim_00_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8c5104ce7cb5566233d3ed429db9af7e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ConstraintTranslationTpl&lt; S1, O1 &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ConstraintTranslationTpl_3_01S1_00_01O1_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>O1</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ConstraintTranslationTpl_3_01S1_00_01O1_01_4_01_4.html</anchorfile>
      <anchor>ae21333b0559518857db8774bccd17e8c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ForceDense&lt; Derived &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ForceDense_3_01Derived_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ForceDense_3_01Derived_01_4_01_4.html</anchorfile>
      <anchor>aa4325b0e60efefe43f305f7412c7b345</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>traits&lt; ForceRef&lt; Vector6ArgType &gt; &gt;::ForcePlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ac5f6011772dbf2a4ffd585d361a8d377</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ForceSet::Block &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ForceSet_1_1Block_01_4.html</filename>
    <member kind="typedef">
      <type>ForceSet</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ForceSet_1_1Block_01_4.html</anchorfile>
      <anchor>af2d33f52114c57c50659d592916bd6d2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionDense&lt; Derived &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionDense_3_01Derived_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>SE3GroupAction&lt; Derived &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionDense_3_01Derived_01_4_01_4.html</anchorfile>
      <anchor>a0c11436fcf1dbf210491e27aeff8c5cc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>afcfc8640d138703ad7e91de0c8da687e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a0197a18f65e0eb642847150d9cb882ee</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a6963505b0ba2e68070fa392666f2c70e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;::MotionPlain</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>af4dd261d6af3482b45c0b64e4ee69e8c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>abc145634ce99a2af8d15fd8f24401db8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa8e7702a5a109fcbd93d5c5e208538d9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a6272bd4d3737e9223a21b98c5d82214c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a401a9d26fadc0869a64ff05c1c66517a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01MotionZeroTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01MotionZeroTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ac0cfcdbd64131c7c9dad5ae31419ea38</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; ScaledConstraint&lt; Constraint &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>SE3GroupAction&lt; Constraint &gt;::ReturnType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>a70e3a2ef775cab98506a50606fc6581b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; TransformPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01TransformPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>traits&lt; TransformPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;::PlainType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01TransformPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a50477077fc3d8a99b648546895e2f1c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; TransformRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01TransformRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>traits&lt; TransformRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;::PlainType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01TransformRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a1544cb598b4bf9bfa6cad781ec686cca</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3GroupAction&lt; TransformTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1SE3GroupAction_3_01TransformTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>traits&lt; TransformTranslationTpl&lt; Scalar, Options &gt; &gt;::PlainType</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1SE3GroupAction_3_01TransformTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aeca140fa8db9bf27b045c1ce6f87f4f0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::SE3PythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1SE3PythonVisitor.html</filename>
    <templarg></templarg>
    <class kind="struct">pinocchio::python::SE3PythonVisitor::Pickle</class>
    <member kind="typedef">
      <type>SE3::Matrix3</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>affe8504ffa3676276d8a90e31f09cde7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3::Matrix4</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>a2efb36f361241a3a0a0e0095d21340ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3::Quaternion</type>
      <name>Quaternion</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>a7349bd8bc26f3cdb2ea4404ebd3a309e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>aabb5cf9bd152572c4f5133fc18a7f540</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>ae92df4349ed5180c795b9ef0302b2dca</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>a6c8d4399bc2a7ae909e6240bfcc6516c</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>a7e5c55dd2a80ce75c8a769257b49c49c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static Spatial</type>
      <name>__mul__</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>ada291fafca7684f0e9c02190023a2e6f</anchor>
      <arglist>(const SE3 &amp;self, const Spatial &amp;other)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setIdentity</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>a64a240c930b1e5968d2288f4229ba9a9</anchor>
      <arglist>(SE3 &amp;self)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1python_1_1SE3PythonVisitor.html</anchorfile>
      <anchor>aade872a0f409425f4b95bdcfb4caa390</anchor>
      <arglist>(SE3 &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SE3Tpl</name>
    <filename>structpinocchio_1_1SE3Tpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>SE3Base&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>SE3Base&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a83f2e64ad35921fdbb56101f3e54dd7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix3</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af0993640e652acfb9bf7234cbf3417d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix4</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a1601ca446f207486d39276a63412c8a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix6</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a738498ee5a8988fd50ec7a9bd16ba9cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaternion&lt; Scalar, Options &gt;</type>
      <name>Quaternion</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0482735ca7e059519406cf81bb6c672a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa224df7f40bbbaf2c731b75c2fa2c9af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Vector4</type>
      <name>Vector4</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ab2a2407d9697ec0ef0863077f38ba851</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a82f977a4369bf71687a311cf0c8fd03f</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae788008929bb82981ca21d483a2995d4</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a5ada97b274aebceba0cf41b3f1962029</anchor>
      <arglist>(const Vector3 &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a27dae7d24e17b3744114b2223b21d92c</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a221fa92e885d9b7dd426fb325bb4dee4</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0df55292906190c5fac3b889452239f9</anchor>
      <arglist>(const Vector3 &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a6296b9bf82279b5339993c3509d4ce41</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>EigenDerived::PlainObject</type>
      <name>actInvOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a03aca2d5f7f0d0d0a860659966b9d2ca</anchor>
      <arglist>(const Eigen::MatrixBase&lt; EigenDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actInvOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3b3283f213e5948a1b206c8196c56257</anchor>
      <arglist>(const Eigen::MapBase&lt; MapDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>EigenDerived::PlainObject</type>
      <name>actOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0a201b6e149c4cce390a51a9b73405f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; EigenDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9a062cc6a6f99912d71a7fa7bb743b1b</anchor>
      <arglist>(const Eigen::MapBase&lt; MapDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a880c33dc79f10938ce0fbbc25ab47eac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a806c1ee9e0bfaa93aecc7241a6524f71</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Interpolate</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae57dccad3dbde59577cc437bac838ac5</anchor>
      <arglist>(const SE3Tpl &amp;A, const SE3Tpl &amp;B, const OtherScalar &amp;alpha)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>inverse</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a84e9de97116911679906f6b0bea10b08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ab653720e1049575b2a246467689ce49c</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ad15b5e8eb6aa6bddaec459198f6f58b0</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa7753733a0ca84b2487f52d884fa21ee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae574f04e3a167611b7e663b8714ab5c8</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3635e40348e718a02caac4b8ed461d4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a259f4a23a5329d6175112ec57a112863</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a38204ae11718a72f10e0319a8cdaadf0</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ac6209f505d972107915318f4d1cd2698</anchor>
      <arglist>(SE3Tpl)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4c2c39e993c4b1cec2c692ba8312eb82</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3711f58392063ddc11a1f8fd66fd5e73</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae9bdc17092673be96491d303717493ae</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>adcb8fb8278602b0f772197e63dd11a53</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ace7748d53b9807a918588c6deab1cd25</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;trans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af129fb1be8933f9d2c98b6b3da95feb5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;trans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a50461444e0dfdd8dbd327f345f8889e3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix4Like &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a92ba4969f716d65bdb5e091f5ddda4e3</anchor>
      <arglist>(int)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ac0348d2c348a5f5f7b740dc80c02f8af</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>setIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9f242121d0f6c4d9d6121cf057a075d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a48cc87dad5de08aef3fa4f2d2c3d5a0a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a8a05f8453e26caf56d0c96a55f15c2d3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a7c352c2c0ba02f65195475517b39c7cb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4c9a8e3adde0a31daff15d925011d5e5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4b4ee1232e1ecf9f2d160bae1345232f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a593f1e51239c7f38d6af1fb5e9dda4ac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aac2b3970847d8929f1a4ff91c84fc465</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9580165373a8cd4eea0582b9cbdddb3e</anchor>
      <arglist>(const LinearType &amp;p)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Identity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af04e86e90dfd5a19e02732eff5ce43b8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Interpolate</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>acea2771b12aeb4964189e5faaaca0b61</anchor>
      <arglist>(const SE3Tpl &amp;A, const SE3Tpl &amp;B, const OtherScalar &amp;alpha)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Random</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ad3fbdec9086fa1324d7d0f92f82dc98f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>AngularType</type>
      <name>rot</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa39e78c9e40654264d3619e4b0364235</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>LinearType</type>
      <name>trans</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a75b888d126df30c8d0acaf999d7ee03d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Tpl&lt; double, 0 &gt;</name>
    <filename>structpinocchio_1_1SE3Tpl.html</filename>
    <base>SE3Base&lt; SE3Tpl&lt; double, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>SE3Base&lt; SE3Tpl&lt; double, _Options &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a83f2e64ad35921fdbb56101f3e54dd7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix3</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af0993640e652acfb9bf7234cbf3417d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix4</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a1601ca446f207486d39276a63412c8a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix6</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a738498ee5a8988fd50ec7a9bd16ba9cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaternion&lt; Scalar, Options &gt;</type>
      <name>Quaternion</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0482735ca7e059519406cf81bb6c672a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa224df7f40bbbaf2c731b75c2fa2c9af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Vector4</type>
      <name>Vector4</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ab2a2407d9697ec0ef0863077f38ba851</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a82f977a4369bf71687a311cf0c8fd03f</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae788008929bb82981ca21d483a2995d4</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a5ada97b274aebceba0cf41b3f1962029</anchor>
      <arglist>(const Vector3 &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a27dae7d24e17b3744114b2223b21d92c</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a221fa92e885d9b7dd426fb325bb4dee4</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0df55292906190c5fac3b889452239f9</anchor>
      <arglist>(const Vector3 &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a6296b9bf82279b5339993c3509d4ce41</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>EigenDerived::PlainObject</type>
      <name>actInvOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a03aca2d5f7f0d0d0a860659966b9d2ca</anchor>
      <arglist>(const Eigen::MatrixBase&lt; EigenDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actInvOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3b3283f213e5948a1b206c8196c56257</anchor>
      <arglist>(const Eigen::MapBase&lt; MapDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>EigenDerived::PlainObject</type>
      <name>actOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0a201b6e149c4cce390a51a9b73405f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; EigenDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9a062cc6a6f99912d71a7fa7bb743b1b</anchor>
      <arglist>(const Eigen::MapBase&lt; MapDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a880c33dc79f10938ce0fbbc25ab47eac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a806c1ee9e0bfaa93aecc7241a6524f71</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Interpolate</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae57dccad3dbde59577cc437bac838ac5</anchor>
      <arglist>(const SE3Tpl &amp;A, const SE3Tpl &amp;B, const OtherScalar &amp;alpha)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>inverse</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a84e9de97116911679906f6b0bea10b08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ab653720e1049575b2a246467689ce49c</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ad15b5e8eb6aa6bddaec459198f6f58b0</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa7753733a0ca84b2487f52d884fa21ee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae574f04e3a167611b7e663b8714ab5c8</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3635e40348e718a02caac4b8ed461d4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a259f4a23a5329d6175112ec57a112863</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a38204ae11718a72f10e0319a8cdaadf0</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ac6209f505d972107915318f4d1cd2698</anchor>
      <arglist>(SE3Tpl)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4c2c39e993c4b1cec2c692ba8312eb82</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3711f58392063ddc11a1f8fd66fd5e73</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae9bdc17092673be96491d303717493ae</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>adcb8fb8278602b0f772197e63dd11a53</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ace7748d53b9807a918588c6deab1cd25</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;trans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af129fb1be8933f9d2c98b6b3da95feb5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;trans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a50461444e0dfdd8dbd327f345f8889e3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix4Like &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a92ba4969f716d65bdb5e091f5ddda4e3</anchor>
      <arglist>(int)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ac0348d2c348a5f5f7b740dc80c02f8af</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>setIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9f242121d0f6c4d9d6121cf057a075d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a48cc87dad5de08aef3fa4f2d2c3d5a0a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a8a05f8453e26caf56d0c96a55f15c2d3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a7c352c2c0ba02f65195475517b39c7cb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4c9a8e3adde0a31daff15d925011d5e5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4b4ee1232e1ecf9f2d160bae1345232f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a593f1e51239c7f38d6af1fb5e9dda4ac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aac2b3970847d8929f1a4ff91c84fc465</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9580165373a8cd4eea0582b9cbdddb3e</anchor>
      <arglist>(const LinearType &amp;p)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Identity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af04e86e90dfd5a19e02732eff5ce43b8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Interpolate</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>acea2771b12aeb4964189e5faaaca0b61</anchor>
      <arglist>(const SE3Tpl &amp;A, const SE3Tpl &amp;B, const OtherScalar &amp;alpha)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Random</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ad3fbdec9086fa1324d7d0f92f82dc98f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>AngularType</type>
      <name>rot</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa39e78c9e40654264d3619e4b0364235</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>LinearType</type>
      <name>trans</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a75b888d126df30c8d0acaf999d7ee03d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SE3Tpl&lt; Scalar, Options &gt;</name>
    <filename>structpinocchio_1_1SE3Tpl.html</filename>
    <base>SE3Base&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>SE3Base&lt; SE3Tpl&lt; Scalar, _Options &gt; &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a83f2e64ad35921fdbb56101f3e54dd7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix3</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af0993640e652acfb9bf7234cbf3417d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix4</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a1601ca446f207486d39276a63412c8a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Matrix6</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a738498ee5a8988fd50ec7a9bd16ba9cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaternion&lt; Scalar, Options &gt;</type>
      <name>Quaternion</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0482735ca7e059519406cf81bb6c672a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa224df7f40bbbaf2c731b75c2fa2c9af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; SE3Tpl &gt;::Vector4</type>
      <name>Vector4</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ab2a2407d9697ec0ef0863077f38ba851</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>__mult__</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a82f977a4369bf71687a311cf0c8fd03f</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae788008929bb82981ca21d483a2995d4</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a5ada97b274aebceba0cf41b3f1962029</anchor>
      <arglist>(const Vector3 &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>act_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a27dae7d24e17b3744114b2223b21d92c</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; D &gt;::ReturnType</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a221fa92e885d9b7dd426fb325bb4dee4</anchor>
      <arglist>(const D &amp;d) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0df55292906190c5fac3b889452239f9</anchor>
      <arglist>(const Vector3 &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>actInv_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a6296b9bf82279b5339993c3509d4ce41</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>EigenDerived::PlainObject</type>
      <name>actInvOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a03aca2d5f7f0d0d0a860659966b9d2ca</anchor>
      <arglist>(const Eigen::MatrixBase&lt; EigenDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actInvOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3b3283f213e5948a1b206c8196c56257</anchor>
      <arglist>(const Eigen::MapBase&lt; MapDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>EigenDerived::PlainObject</type>
      <name>actOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a0a201b6e149c4cce390a51a9b73405f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; EigenDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>actOnEigenObject</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9a062cc6a6f99912d71a7fa7bb743b1b</anchor>
      <arglist>(const Eigen::MapBase&lt; MapDerived &gt; &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a880c33dc79f10938ce0fbbc25ab47eac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disp_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a806c1ee9e0bfaa93aecc7241a6524f71</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Interpolate</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae57dccad3dbde59577cc437bac838ac5</anchor>
      <arglist>(const SE3Tpl &amp;A, const SE3Tpl &amp;B, const OtherScalar &amp;alpha)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl</type>
      <name>inverse</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a84e9de97116911679906f6b0bea10b08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ab653720e1049575b2a246467689ce49c</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ad15b5e8eb6aa6bddaec459198f6f58b0</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;m2) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa7753733a0ca84b2487f52d884fa21ee</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae574f04e3a167611b7e663b8714ab5c8</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3635e40348e718a02caac4b8ed461d4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>normalized</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a259f4a23a5329d6175112ec57a112863</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a38204ae11718a72f10e0319a8cdaadf0</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ac6209f505d972107915318f4d1cd2698</anchor>
      <arglist>(SE3Tpl)</arglist>
    </member>
    <member kind="function">
      <type>ConstAngularRef</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4c2c39e993c4b1cec2c692ba8312eb82</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularRef</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a3711f58392063ddc11a1f8fd66fd5e73</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ae9bdc17092673be96491d303717493ae</anchor>
      <arglist>(const AngularType &amp;R)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>adcb8fb8278602b0f772197e63dd11a53</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ace7748d53b9807a918588c6deab1cd25</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;trans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af129fb1be8933f9d2c98b6b3da95feb5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;trans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a50461444e0dfdd8dbd327f345f8889e3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix4Like &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a92ba4969f716d65bdb5e091f5ddda4e3</anchor>
      <arglist>(int)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SE3Tpl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ac0348d2c348a5f5f7b740dc80c02f8af</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, O2 &gt; &amp;clone)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>setIdentity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9f242121d0f6c4d9d6121cf057a075d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl &amp;</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a48cc87dad5de08aef3fa4f2d2c3d5a0a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a8a05f8453e26caf56d0c96a55f15c2d3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toActionMatrixInverse_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a7c352c2c0ba02f65195475517b39c7cb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ActionMatrixType</type>
      <name>toDualActionMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4c9a8e3adde0a31daff15d925011d5e5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>HomogeneousMatrixType</type>
      <name>toHomogeneousMatrix_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a4b4ee1232e1ecf9f2d160bae1345232f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a593f1e51239c7f38d6af1fb5e9dda4ac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aac2b3970847d8929f1a4ff91c84fc465</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>translation_impl</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a9580165373a8cd4eea0582b9cbdddb3e</anchor>
      <arglist>(const LinearType &amp;p)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Identity</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>af04e86e90dfd5a19e02732eff5ce43b8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Interpolate</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>acea2771b12aeb4964189e5faaaca0b61</anchor>
      <arglist>(const SE3Tpl &amp;A, const SE3Tpl &amp;B, const OtherScalar &amp;alpha)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3Tpl</type>
      <name>Random</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>ad3fbdec9086fa1324d7d0f92f82dc98f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>AngularType</type>
      <name>rot</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>aa39e78c9e40654264d3619e4b0364235</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>LinearType</type>
      <name>trans</name>
      <anchorfile>structpinocchio_1_1SE3Tpl.html</anchorfile>
      <anchor>a75b888d126df30c8d0acaf999d7ee03d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType::SegmentReturn</name>
    <filename>structpinocchio_1_1SizeDepType_1_1SegmentReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>Mat::template ConstFixedSegmentReturnType&lt; NV &gt;::Type</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1SegmentReturn.html</anchorfile>
      <anchor>aabd8431e645c9b380c78f7369b95433f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Mat::template FixedSegmentReturnType&lt; NV &gt;::Type</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_1_1SegmentReturn.html</anchorfile>
      <anchor>af0b4d49ae7f1c740ff18605f307ff3bc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::SegmentReturn</name>
    <filename>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1SegmentReturn.html</filename>
    <templarg>Mat</templarg>
    <member kind="typedef">
      <type>Mat::ConstSegmentReturnType</type>
      <name>ConstType</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1SegmentReturn.html</anchorfile>
      <anchor>a4b1c95e5388f5c8a7cb511c85879555d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Mat::SegmentReturnType</type>
      <name>Type</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4_1_1SegmentReturn.html</anchorfile>
      <anchor>afb67b85c164b72e1b32a7333b78b88e5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::serialization::Serializable</name>
    <filename>structpinocchio_1_1serialization_1_1Serializable.html</filename>
    <templarg>Derived</templarg>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa72977a545ee7fb3a2429df8f6cf19fc</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a7617a493a2d3aabbd7554cf351f3eaeb</anchor>
      <arglist>(boost::asio::streambuf &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ae074a718203faf1440d87373886e64b5</anchor>
      <arglist>(StaticBuffer &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>acda7c1a231a9404863a8f47f0c09f8c0</anchor>
      <arglist>(const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a043da0c41d14d0fa0026444f4205e916</anchor>
      <arglist>(std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ac31a726ad73f62b03e2e66d0ad3b3d1e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a39492cdaa8dc3c3881ea0daff53e37e1</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a0dc50f8eafc8554cd05d26b36a126cac</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa788487e604717bfcf943df4547ecda8</anchor>
      <arglist>(boost::asio::streambuf &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ab6b2a103d5effba3a0e5df882e62e20f</anchor>
      <arglist>(StaticBuffer &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a6f2c0e81556d6d261ac95fa84866dd55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>afcde819698d5158fc7b1337943aedbfc</anchor>
      <arglist>(std::stringstream &amp;ss) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ad09dc38f6863f6e2cfd2b0abfb09908c</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a09c1188b1f1199e38f6bdaf2ee547323</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a104fd87f2d938aad98f03a0fbeac9c28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const Derived &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a3523bf4ce1dcbbc30ae3657895dc6bf3</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Serializable&lt; DataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1serialization_1_1Serializable.html</filename>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa72977a545ee7fb3a2429df8f6cf19fc</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a7617a493a2d3aabbd7554cf351f3eaeb</anchor>
      <arglist>(boost::asio::streambuf &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ae074a718203faf1440d87373886e64b5</anchor>
      <arglist>(StaticBuffer &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>acda7c1a231a9404863a8f47f0c09f8c0</anchor>
      <arglist>(const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a043da0c41d14d0fa0026444f4205e916</anchor>
      <arglist>(std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ac31a726ad73f62b03e2e66d0ad3b3d1e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a39492cdaa8dc3c3881ea0daff53e37e1</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a0dc50f8eafc8554cd05d26b36a126cac</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa788487e604717bfcf943df4547ecda8</anchor>
      <arglist>(boost::asio::streambuf &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ab6b2a103d5effba3a0e5df882e62e20f</anchor>
      <arglist>(StaticBuffer &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a6f2c0e81556d6d261ac95fa84866dd55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>afcde819698d5158fc7b1337943aedbfc</anchor>
      <arglist>(std::stringstream &amp;ss) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ad09dc38f6863f6e2cfd2b0abfb09908c</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a09c1188b1f1199e38f6bdaf2ee547323</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>DataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a104fd87f2d938aad98f03a0fbeac9c28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const DataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a3523bf4ce1dcbbc30ae3657895dc6bf3</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Serializable&lt; GeometryData &gt;</name>
    <filename>structpinocchio_1_1serialization_1_1Serializable.html</filename>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa72977a545ee7fb3a2429df8f6cf19fc</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a7617a493a2d3aabbd7554cf351f3eaeb</anchor>
      <arglist>(boost::asio::streambuf &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ae074a718203faf1440d87373886e64b5</anchor>
      <arglist>(StaticBuffer &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>acda7c1a231a9404863a8f47f0c09f8c0</anchor>
      <arglist>(const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a043da0c41d14d0fa0026444f4205e916</anchor>
      <arglist>(std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ac31a726ad73f62b03e2e66d0ad3b3d1e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a39492cdaa8dc3c3881ea0daff53e37e1</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a0dc50f8eafc8554cd05d26b36a126cac</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa788487e604717bfcf943df4547ecda8</anchor>
      <arglist>(boost::asio::streambuf &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ab6b2a103d5effba3a0e5df882e62e20f</anchor>
      <arglist>(StaticBuffer &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a6f2c0e81556d6d261ac95fa84866dd55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>afcde819698d5158fc7b1337943aedbfc</anchor>
      <arglist>(std::stringstream &amp;ss) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ad09dc38f6863f6e2cfd2b0abfb09908c</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a09c1188b1f1199e38f6bdaf2ee547323</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>GeometryData &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a104fd87f2d938aad98f03a0fbeac9c28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const GeometryData &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a3523bf4ce1dcbbc30ae3657895dc6bf3</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Serializable&lt; ModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1serialization_1_1Serializable.html</filename>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa72977a545ee7fb3a2429df8f6cf19fc</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a7617a493a2d3aabbd7554cf351f3eaeb</anchor>
      <arglist>(boost::asio::streambuf &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ae074a718203faf1440d87373886e64b5</anchor>
      <arglist>(StaticBuffer &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>acda7c1a231a9404863a8f47f0c09f8c0</anchor>
      <arglist>(const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a043da0c41d14d0fa0026444f4205e916</anchor>
      <arglist>(std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ac31a726ad73f62b03e2e66d0ad3b3d1e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a39492cdaa8dc3c3881ea0daff53e37e1</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a0dc50f8eafc8554cd05d26b36a126cac</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa788487e604717bfcf943df4547ecda8</anchor>
      <arglist>(boost::asio::streambuf &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ab6b2a103d5effba3a0e5df882e62e20f</anchor>
      <arglist>(StaticBuffer &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a6f2c0e81556d6d261ac95fa84866dd55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>afcde819698d5158fc7b1337943aedbfc</anchor>
      <arglist>(std::stringstream &amp;ss) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ad09dc38f6863f6e2cfd2b0abfb09908c</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a09c1188b1f1199e38f6bdaf2ee547323</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>ModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a104fd87f2d938aad98f03a0fbeac9c28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const ModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a3523bf4ce1dcbbc30ae3657895dc6bf3</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Serializable&lt; ModelTpl&lt; ADScalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1serialization_1_1Serializable.html</filename>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa72977a545ee7fb3a2429df8f6cf19fc</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a7617a493a2d3aabbd7554cf351f3eaeb</anchor>
      <arglist>(boost::asio::streambuf &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ae074a718203faf1440d87373886e64b5</anchor>
      <arglist>(StaticBuffer &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>acda7c1a231a9404863a8f47f0c09f8c0</anchor>
      <arglist>(const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a043da0c41d14d0fa0026444f4205e916</anchor>
      <arglist>(std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ac31a726ad73f62b03e2e66d0ad3b3d1e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a39492cdaa8dc3c3881ea0daff53e37e1</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a0dc50f8eafc8554cd05d26b36a126cac</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa788487e604717bfcf943df4547ecda8</anchor>
      <arglist>(boost::asio::streambuf &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ab6b2a103d5effba3a0e5df882e62e20f</anchor>
      <arglist>(StaticBuffer &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a6f2c0e81556d6d261ac95fa84866dd55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>afcde819698d5158fc7b1337943aedbfc</anchor>
      <arglist>(std::stringstream &amp;ss) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ad09dc38f6863f6e2cfd2b0abfb09908c</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a09c1188b1f1199e38f6bdaf2ee547323</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>ModelTpl&lt; ADScalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a104fd87f2d938aad98f03a0fbeac9c28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const ModelTpl&lt; ADScalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a3523bf4ce1dcbbc30ae3657895dc6bf3</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Serializable&lt; ModelTpl&lt; Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1serialization_1_1Serializable.html</filename>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa72977a545ee7fb3a2429df8f6cf19fc</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a7617a493a2d3aabbd7554cf351f3eaeb</anchor>
      <arglist>(boost::asio::streambuf &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ae074a718203faf1440d87373886e64b5</anchor>
      <arglist>(StaticBuffer &amp;container)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>acda7c1a231a9404863a8f47f0c09f8c0</anchor>
      <arglist>(const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a043da0c41d14d0fa0026444f4205e916</anchor>
      <arglist>(std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ac31a726ad73f62b03e2e66d0ad3b3d1e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a39492cdaa8dc3c3881ea0daff53e37e1</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a0dc50f8eafc8554cd05d26b36a126cac</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>aa788487e604717bfcf943df4547ecda8</anchor>
      <arglist>(boost::asio::streambuf &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ab6b2a103d5effba3a0e5df882e62e20f</anchor>
      <arglist>(StaticBuffer &amp;container) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a6f2c0e81556d6d261ac95fa84866dd55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>afcde819698d5158fc7b1337943aedbfc</anchor>
      <arglist>(std::stringstream &amp;ss) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>ad09dc38f6863f6e2cfd2b0abfb09908c</anchor>
      <arglist>(const std::string &amp;filename) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a09c1188b1f1199e38f6bdaf2ee547323</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;tag_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>ModelTpl&lt; Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a104fd87f2d938aad98f03a0fbeac9c28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const ModelTpl&lt; Scalar, _Options, JointCollectionTpl &gt; &amp;</type>
      <name>derived</name>
      <anchorfile>structpinocchio_1_1serialization_1_1Serializable.html</anchorfile>
      <anchor>a3523bf4ce1dcbbc30ae3657895dc6bf3</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::SerializableVisitor</name>
    <filename>structpinocchio_1_1python_1_1SerializableVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structpinocchio_1_1python_1_1SerializableVisitor.html</anchorfile>
      <anchor>aa91ab2e60ea6317e65263de3564d0d7e</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Serialize</name>
    <filename>structpinocchio_1_1Serialize.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1Serialize.html</anchorfile>
      <anchor>a7f22c7608764a7915b7b21fc023ede90</anchor>
      <arglist>(Archive &amp;ar, T &amp;object)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Serialize&lt; JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1Serialize_3_01JointDataCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1Serialize_3_01JointDataCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a1c285a390ad82121fd3d4bdbb4c0a463</anchor>
      <arglist>(Archive &amp;ar, JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_data)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Serialize&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1Serialize_3_01JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1Serialize_3_01JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a40695cb4aec26c035f4b0dc5ab6c5162</anchor>
      <arglist>(Archive &amp;ar, JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleBinaryVisitor1</name>
    <filename>structSimpleBinaryVisitor1.html</filename>
    <base>JointBinaryVisitorBase&lt; SimpleBinaryVisitor1 &gt;</base>
    <member kind="typedef">
      <type>bf::vector&lt; const pinocchio::Model &amp;, pinocchio::Data &amp;, pinocchio::JointIndex &gt;</type>
      <name>ArgsType</name>
      <anchorfile>structSimpleBinaryVisitor1.html</anchorfile>
      <anchor>a17bf8a93cd0b652b8dc0fee65bc53871</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleBinaryVisitor1.html</anchorfile>
      <anchor>ab6a30cbd531938edf4a5e3a6a00a5c22</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel1 &gt; &amp;jmodel1, const pinocchio::JointModelBase&lt; JointModel2 &gt; &amp;jmodel2, pinocchio::JointDataBase&lt; typename JointModel1::JointDataDerived &gt; &amp;jdata1, pinocchio::JointDataBase&lt; typename JointModel2::JointDataDerived &gt; &amp;jdata2, const pinocchio::Model &amp;model, pinocchio::Data &amp;data, pinocchio::JointIndex jindex)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleBinaryVisitor2</name>
    <filename>structSimpleBinaryVisitor2.html</filename>
    <base>JointBinaryVisitorBase&lt; SimpleBinaryVisitor2 &gt;</base>
    <member kind="typedef">
      <type>bf::vector&lt; const pinocchio::Model &amp;, pinocchio::Data &amp;, pinocchio::JointIndex &gt;</type>
      <name>ArgsType</name>
      <anchorfile>structSimpleBinaryVisitor2.html</anchorfile>
      <anchor>a785f6c0746d41a74443e96fea6567e72</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleBinaryVisitor2.html</anchorfile>
      <anchor>a9559fbc5fb819f876999cbcd0918c371</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel1 &gt; &amp;jmodel1, const pinocchio::JointModelBase&lt; JointModel2 &gt; &amp;jmodel2, const pinocchio::Model &amp;model, pinocchio::Data &amp;data, pinocchio::JointIndex jindex)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleBinaryVisitor3</name>
    <filename>structSimpleBinaryVisitor3.html</filename>
    <base>JointBinaryVisitorBase&lt; SimpleBinaryVisitor3 &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleBinaryVisitor3.html</anchorfile>
      <anchor>acc3ae6031889b4f6ba887e723f3be2f9</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel1 &gt; &amp;jmodel1, const pinocchio::JointModelBase&lt; JointModel2 &gt; &amp;jmodel2)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleBinaryVisitor4</name>
    <filename>structSimpleBinaryVisitor4.html</filename>
    <base>JointBinaryVisitorBase&lt; SimpleBinaryVisitor4 &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleBinaryVisitor4.html</anchorfile>
      <anchor>a35a185647cd2e8d1998a4a42e44f3e71</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel1 &gt; &amp;jmodel1, const pinocchio::JointModelBase&lt; JointModel2 &gt; &amp;jmodel2, pinocchio::JointDataBase&lt; typename JointModel1::JointDataDerived &gt; &amp;jdata1, pinocchio::JointDataBase&lt; typename JointModel2::JointDataDerived &gt; &amp;jdata2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::SimpleHumanoidClassicalLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidClassicalLoader.html</filename>
    <base>example_robot_data::robots_loader::SimpleHumanoidLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidClassicalLoader.html</anchorfile>
      <anchor>a65e4fb5a5708f22ca10a29ac6686547a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidClassicalLoader.html</anchorfile>
      <anchor>afa6d10d129fa06a75ae05fe97cc8c9b3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::SimpleHumanoidLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidLoader.html</anchorfile>
      <anchor>a02bc6fdc3f0d4d3d957e3d7d4dbbeb74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidLoader.html</anchorfile>
      <anchor>a4c9697f2b95b9c128b61dff7841882ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidLoader.html</anchorfile>
      <anchor>a2a5d20af3074a453fc1fa196ade11425</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidLoader.html</anchorfile>
      <anchor>ab2208f5cce96e197553177cdaab9320d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1SimpleHumanoidLoader.html</anchorfile>
      <anchor>a3e0f16ec52b0a75fe0d21de28b67c7bf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>simple_model::SimplestWalker</name>
    <filename>classsimple__model_1_1SimplestWalker.html</filename>
    <base>simple_model::ModelWrapper</base>
    <member kind="variable" static="yes">
      <type>list</type>
      <name>joints</name>
      <anchorfile>classsimple__model_1_1SimplestWalker.html</anchorfile>
      <anchor>a23d56606b98623275fbcfb193e483cb4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleUnaryVisitor1</name>
    <filename>structSimpleUnaryVisitor1.html</filename>
    <base>JointUnaryVisitorBase&lt; SimpleUnaryVisitor1 &gt;</base>
    <member kind="typedef">
      <type>bf::vector&lt; const pinocchio::Model &amp;, pinocchio::Data &amp;, pinocchio::JointIndex &gt;</type>
      <name>ArgsType</name>
      <anchorfile>structSimpleUnaryVisitor1.html</anchorfile>
      <anchor>a553200315cf932a6a09ca5ce2e689a5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleUnaryVisitor1.html</anchorfile>
      <anchor>a18f50ae4ce016b91fa32e8ce403fa62b</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel, pinocchio::JointDataBase&lt; typename JointModel::JointDataDerived &gt; &amp;jdata, const pinocchio::Model &amp;model, pinocchio::Data &amp;data, pinocchio::JointIndex jindex)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleUnaryVisitor2</name>
    <filename>structSimpleUnaryVisitor2.html</filename>
    <base>JointUnaryVisitorBase&lt; SimpleUnaryVisitor2 &gt;</base>
    <member kind="typedef">
      <type>bf::vector&lt; const pinocchio::Model &amp;, pinocchio::Data &amp;, pinocchio::JointIndex &gt;</type>
      <name>ArgsType</name>
      <anchorfile>structSimpleUnaryVisitor2.html</anchorfile>
      <anchor>a4b1417fd945f6f8bf7c388bc502785de</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleUnaryVisitor2.html</anchorfile>
      <anchor>a1ea96df071a4a9953d7f1a0445b816ca</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel, const pinocchio::Model &amp;model, pinocchio::Data &amp;data, pinocchio::JointIndex jindex)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleUnaryVisitor3</name>
    <filename>structSimpleUnaryVisitor3.html</filename>
    <base>JointUnaryVisitorBase&lt; SimpleUnaryVisitor3 &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleUnaryVisitor3.html</anchorfile>
      <anchor>acc7450589c6ce89147e5831ef01e39d5</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>SimpleUnaryVisitor4</name>
    <filename>structSimpleUnaryVisitor4.html</filename>
    <base>JointUnaryVisitorBase&lt; SimpleUnaryVisitor4 &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>algo</name>
      <anchorfile>structSimpleUnaryVisitor4.html</anchorfile>
      <anchor>a7c11dae78a9793b1034a3f4ed21dd1f0</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel, pinocchio::JointDataBase&lt; typename JointModel::JointDataDerived &gt; &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SINCOSAlgo</name>
    <filename>structpinocchio_1_1SINCOSAlgo.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1SINCOSAlgo.html</anchorfile>
      <anchor>afdeb21acb5adf786c622d4746f9c1b33</anchor>
      <arglist>(const S1 &amp;a, S2 *sa, S3 *ca)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SINCOSAlgo&lt; boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; X_digits10, X_alloc &gt;, X_et &gt;, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; S_digits10, S_alloc &gt;, S_et &gt;, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; C_digits10, C_alloc &gt;, C_et &gt; &gt;</name>
    <filename>structpinocchio_1_1SINCOSAlgo_3_01boost_1_1multiprecision_1_1number_3_01boost_1_1multiprecision_b76c19fc62d3d3236a30af1548759441.html</filename>
    <templarg>S_digits10</templarg>
    <templarg>S_alloc</templarg>
    <templarg>S_et</templarg>
    <templarg>C_digits10</templarg>
    <templarg>C_alloc</templarg>
    <templarg>C_et</templarg>
    <templarg>X_digits10</templarg>
    <templarg>X_alloc</templarg>
    <templarg>X_et</templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1SINCOSAlgo_3_01boost_1_1multiprecision_1_1number_3_01boost_1_1multiprecision_b76c19fc62d3d3236a30af1548759441.html</anchorfile>
      <anchor>ad5fc9fe4cd17a9389beaeb006068f27a</anchor>
      <arglist>(boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; X_digits10, X_alloc &gt;, X_et &gt; const &amp;a, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; S_digits10, S_alloc &gt;, S_et &gt; *sa, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; C_digits10, C_alloc &gt;, C_et &gt; *ca)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SINCOSAlgo&lt; double &gt;</name>
    <filename>structpinocchio_1_1SINCOSAlgo_3_01double_01_4.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1SINCOSAlgo_3_01double_01_4.html</anchorfile>
      <anchor>a125d1523e27cd04eddfea802336a7b00</anchor>
      <arglist>(const double &amp;a, double *sa, double *ca)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SINCOSAlgo&lt; float &gt;</name>
    <filename>structpinocchio_1_1SINCOSAlgo_3_01float_01_4.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1SINCOSAlgo_3_01float_01_4.html</anchorfile>
      <anchor>a3a58147a99ba9fd89ade2b6f65ccb649</anchor>
      <arglist>(const float &amp;a, float *sa, float *ca)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SINCOSAlgo&lt; long double &gt;</name>
    <filename>structpinocchio_1_1SINCOSAlgo_3_01long_01double_01_4.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1SINCOSAlgo_3_01long_01double_01_4.html</anchorfile>
      <anchor>a88ba256a8e92816d0a0ae62044463537</anchor>
      <arglist>(const long double &amp;a, long double *sa, long double *ca)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType</name>
    <filename>structpinocchio_1_1SizeDepType.html</filename>
    <templarg>NV</templarg>
    <class kind="struct">pinocchio::SizeDepType::BlockReturn</class>
    <class kind="struct">pinocchio::SizeDepType::ColsReturn</class>
    <class kind="struct">pinocchio::SizeDepType::RowsReturn</class>
    <class kind="struct">pinocchio::SizeDepType::SegmentReturn</class>
    <member kind="function" static="yes">
      <type>static BlockReturn&lt; D &gt;::ConstType</type>
      <name>block</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>a0fefeb4f8fb8859bb7ff130db69734e1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index row_id, typename Eigen::DenseBase&lt; D &gt;::Index col_id, typename Eigen::DenseBase&lt; D &gt;::Index row_size_block=NV, typename Eigen::DenseBase&lt; D &gt;::Index col_size_block=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static BlockReturn&lt; D &gt;::Type</type>
      <name>block</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>af5eb951e895c351f940bc8fbc81cbe1e</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index row_id, typename Eigen::DenseBase&lt; D &gt;::Index col_id, typename Eigen::DenseBase&lt; D &gt;::Index row_size_block=NV, typename Eigen::DenseBase&lt; D &gt;::Index col_size_block=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ColsReturn&lt; D &gt;::ConstType</type>
      <name>middleCols</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>af789b0f736e502092ae47e266781eb34</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ColsReturn&lt; D &gt;::Type</type>
      <name>middleCols</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>a0e9363b8ea11c467ee8f870837574547</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RowsReturn&lt; D &gt;::ConstType</type>
      <name>middleRows</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>abfb27d9bc568f2b2fb7495ba3f3d2b38</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RowsReturn&lt; D &gt;::Type</type>
      <name>middleRows</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>a2141b89a038bbc98218f804a51afeec2</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SegmentReturn&lt; D &gt;::ConstType</type>
      <name>segment</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>a129953f16e2a8c6a1fc1a2c2aa569dfa</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size=NV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SegmentReturn&lt; D &gt;::Type</type>
      <name>segment</name>
      <anchorfile>structpinocchio_1_1SizeDepType.html</anchorfile>
      <anchor>a6194f071404aa4e48a1c36d9b7ce13d5</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size=NV)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;</name>
    <filename>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</filename>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::BlockReturn</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::ColsReturn</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::RowsReturn</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;::SegmentReturn</class>
    <member kind="function" static="yes">
      <type>static BlockReturn&lt; D &gt;::ConstType</type>
      <name>block</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>acd4a5023fd7e9ca7ca322cc0ca37efd7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index row_id, typename Eigen::DenseBase&lt; D &gt;::Index col_id, typename Eigen::DenseBase&lt; D &gt;::Index row_size_block, typename Eigen::DenseBase&lt; D &gt;::Index col_size_block)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static BlockReturn&lt; D &gt;::Type</type>
      <name>block</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>ace8feb035a22ef17a44310e107605356</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index row_id, typename Eigen::DenseBase&lt; D &gt;::Index col_id, typename Eigen::DenseBase&lt; D &gt;::Index row_size_block, typename Eigen::DenseBase&lt; D &gt;::Index col_size_block)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ColsReturn&lt; D &gt;::ConstType</type>
      <name>middleCols</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>a04dcf142c260d10836e79268b1f22525</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ColsReturn&lt; D &gt;::Type</type>
      <name>middleCols</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>afc93304dc17fdd55adf85381c7c012dc</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RowsReturn&lt; D &gt;::ConstType</type>
      <name>middleRows</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>a80ac22177888f4442ae2c01d7ac33c2b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RowsReturn&lt; D &gt;::Type</type>
      <name>middleRows</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>ae10277f4936a2a14d439c1c4cf61d632</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SegmentReturn&lt; D &gt;::ConstType</type>
      <name>segment</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>ade9085c63d0890d37c3cae7948bff1ea</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SegmentReturn&lt; D &gt;::Type</type>
      <name>segment</name>
      <anchorfile>structpinocchio_1_1SizeDepType_3_01Eigen_1_1Dynamic_01_4.html</anchorfile>
      <anchor>a539f9a6084ba0eec790e961046d2c97c</anchor>
      <arglist>(Eigen::MatrixBase&lt; D &gt; &amp;mat, typename Eigen::DenseBase&lt; D &gt;::Index start, typename Eigen::DenseBase&lt; D &gt;::Index size)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Symmetric3Tpl::SkewSquare</name>
    <filename>structpinocchio_1_1Symmetric3Tpl_1_1SkewSquare.html</filename>
    <member kind="function">
      <type></type>
      <name>operator Symmetric3Tpl</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1SkewSquare.html</anchorfile>
      <anchor>ac46081fedfecdb915fd29f4de5908441</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SkewSquare</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1SkewSquare.html</anchorfile>
      <anchor>a1297872a1eb033af6cbd9cddb8d5f3ca</anchor>
      <arglist>(const Vector3 &amp;v)</arglist>
    </member>
    <member kind="variable">
      <type>const Vector3 &amp;</type>
      <name>v</name>
      <anchorfile>structpinocchio_1_1Symmetric3Tpl_1_1SkewSquare.html</anchorfile>
      <anchor>a6487c71b8a712e17a46138f43aa5f92b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::Solo12Loader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1Solo12Loader.html</filename>
    <base>example_robot_data::robots_loader::Solo8Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1Solo12Loader.html</anchorfile>
      <anchor>a03ad0e7a1844203cc6ada45f1fbabae1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::Solo8Loader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1Solo8Loader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1Solo8Loader.html</anchorfile>
      <anchor>af505379ec78a4ce4e483e581c95c28b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1Solo8Loader.html</anchorfile>
      <anchor>aa6caf2aea83767af1e6f565842712f4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1Solo8Loader.html</anchorfile>
      <anchor>a8c14c10e39749e1bae159804f81b913e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1Solo8Loader.html</anchorfile>
      <anchor>a5ceb5df0acbe1251b38a8adb30b47549</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1Solo8Loader.html</anchorfile>
      <anchor>afeb1a1fb31d183a67baf4c478875fc88</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpatialAxis</name>
    <filename>structpinocchio_1_1SpatialAxis.html</filename>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a54c8bd210b01bf52351e5d9240257bb2a96c1c05df4c52e0f193788e683473da7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>dim</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a54c8bd210b01bf52351e5d9240257bb2a91e90e3e59cc13c3b38272bde06cea57</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a1ff65fe21ea57c649560903553964532a01d9e866b93596f797024dab803992ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a1ff65fe21ea57c649560903553964532ae16269f5d47bbb5672d1e48436449e65</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a1ff65fe21ea57c649560903553964532ae16269f5d47bbb5672d1e48436449e65</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a54c8bd210b01bf52351e5d9240257bb2a96c1c05df4c52e0f193788e683473da7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianAxis&lt; _axis%3 &gt;</type>
      <name>CartesianAxis3</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a3fdde795e52918120af365fd36d68c5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>dim</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a54c8bd210b01bf52351e5d9240257bb2a91e90e3e59cc13c3b38272bde06cea57</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a1ff65fe21ea57c649560903553964532a01d9e866b93596f797024dab803992ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>motionAction</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a509bd2c97cd64393abd0ee02c8d46406</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>ab5319c179457df60d99cba7e6b9cca61</anchor>
      <arglist>(const Scalar &amp;s) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a22e19346d6f770eb6b7a1826a10dca8f</anchor>
      <arglist>(const MotionDense&lt; Derived1 &gt; &amp;min, const MotionDense&lt; Derived2 &gt; &amp;mout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static traits&lt; Derived &gt;::MotionPlain</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a3b272d4645460ddab4900586de18772a</anchor>
      <arglist>(const MotionDense&lt; Derived &gt; &amp;min)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a56dcac96f4d9db05048dc6eba1e9603e</anchor>
      <arglist>(const ForceDense&lt; Derived1 &gt; &amp;fin, const ForceDense&lt; Derived2 &gt; &amp;fout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static traits&lt; Derived &gt;::ForcePlain</type>
      <name>cross</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a663d93ba718a4624d6d9b234d5a7ef0a</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;fin)</arglist>
    </member>
    <member kind="friend">
      <type>friend MotionTpl&lt; Scalar &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a7a7fbab58cf4b917a37b5685a63f1edf</anchor>
      <arglist>(const Scalar &amp;s, const SpatialAxis &amp;)</arglist>
    </member>
    <member kind="friend">
      <type>friend Derived &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpinocchio_1_1SpatialAxis.html</anchorfile>
      <anchor>a086fe1b64d377b9733214fb0659bd590</anchor>
      <arglist>(MotionDense&lt; Derived &gt; &amp;min, const SpatialAxis &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpecialEuclideanOperationTpl</name>
    <filename>structpinocchio_1_1SpecialEuclideanOperationTpl.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>LieGroupBase&lt; SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 2, 2, Options &gt;</type>
      <name>Matrix2</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aa8285281f3d6f02d5b90052b28969954</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VectorSpaceOperationTpl&lt; 2, Scalar, Options &gt;</type>
      <name>R2_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a597d38e20a16c06911f7bdec4a90b39d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianProductOperation&lt; R2_t, SO2_t &gt;</type>
      <name>R2crossSO2_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aee978753910beb37ef85cc012f09ea71</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpecialOrthogonalOperationTpl&lt; 2, Scalar, Options &gt;</type>
      <name>SO2_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a5bd15da1aed27ec979ebfddacf717e24</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 2, 1, Options &gt;</type>
      <name>Vector2</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a5178b2553818d3f8b14c96a5cbb8aa81</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a7a90e09b4eefb0b191701cb0ae109146</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a4b5d29e5730b3506814f9c68a85c1c8a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a3e85c9d0d2456c62266156caef512488</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ad3c90f50863066961936f70b3766950a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a3e4a7c895ff59c25315e0214c63afa6a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aed1e56153b8056a7b88ed0636f221da8</anchor>
      <arglist>(SpecialEuclideanOperationTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a28d448c0ee12db3364ded02253e9e51d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>abfa3b5ce5e97a3779b6e524fbb7eb81f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a58d9625992ad56e5d55cc49070e6ffd5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8fd27c203ce0199e4007102d3f10e21b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a5ea053be61c8c36b4c464f73f97b24f1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>exp</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>afe745d52ff4d8ebd898a4c0bba79f3f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; TangentVector &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector2Like &gt; &amp;t)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a5e8482b0961d453a08e13141cd3168b8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a17227b739d89d3a37f097beab8445eb0</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a31e23fa22d0e4927288d9e2cba2bb7d4</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a2a6ec8e7489d4d6553c62689353eb1d7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>Jlog</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a6d0d16112d18593723ed79b8467fc792</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector2Like &gt; &amp;p, const Eigen::MatrixBase&lt; JacobianOutLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>log</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aae4176f0557897993c3b613abc2a90f7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector2Like &gt; &amp;p, const Eigen::MatrixBase&lt; TangentVector &gt; &amp;v)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>acbea6817d2a5eb21ad48739f13e91458</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ac0cc02a47ebc89fc1f8bc7feeaab6dec</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a4719d32633ab8578287201b20ab80349</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>afe41ee28e81a2d8870573aa595838bac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ab50bc0c0b1c1ebc6515aab293a72e03f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>toInverseActionMatrix</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8297bf2ba6cf99a9ac9858b25b4d87b2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector2Like &gt; &amp;t, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;M, const AssignmentOperatorType op)</arglist>
    </member>
    <member kind="function" protection="protected" static="yes">
      <type>static void</type>
      <name>forwardKinematics</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a1ffa8d4f3839fd782236195625e96e9c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;R, const Eigen::MatrixBase&lt; Vector2Like &gt; &amp;t, const Eigen::MatrixBase&lt; Vector4Like &gt; &amp;q)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>LieGroupBase&lt; SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>Eigen::Map&lt; const Quaternion_t &gt;</type>
      <name>ConstQuaternionMap_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a189febf2b2d86f0e5018782c19ef741e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaternion&lt; Scalar, Options &gt;</type>
      <name>Quaternion_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>accfa6dd0d7ea1aff91045ab0b6a33b71</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Quaternion_t &gt;</type>
      <name>QuaternionMap_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a562876c40322f660e9c41650de9cc694</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianProductOperation&lt; VectorSpaceOperationTpl&lt; 3, Scalar, Options &gt;, SpecialOrthogonalOperationTpl&lt; 3, Scalar, Options &gt; &gt;</type>
      <name>R3crossSO3_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a1c9a3ff5c9bb7fb993a520c5d22f83d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::NumTraits&lt; Scalar &gt;::Real</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8dc506e561a0ccaea0cc8e304d11f9ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a2e6cfc65e21ecd35ca2637333023673c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a4d808230a26cfb02e214a1c65068b410</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a3d12404598d68001c4231b1e41abe354</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a86e6fcb4389a43969bfe76059c39753e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a87ebf45d2714e0b1395f9e5fb900942a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a74e4d42d1702cd1af368f5ce18cd1176</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a405ca360af7e739c1bb23a8dbb97f50e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a322df580a37f55dc1d046ecc3efdbf6a</anchor>
      <arglist>(SpecialEuclideanOperationTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a626f49f955f7547b32ce3551b30baa2d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a497aa0b852cb20af7c00899e028256cd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ab4364e31b5cc572bc385366b7f691b5a</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aabb7610116151a9fe24c2f8939a587a8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ac6d1c6a3652b3b6efbd7756a7fbb5e54</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a4b7c62a9f363b514d8be7f19d8856043</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a437a7dae1dcdf1b0f4b2fca16edbe2cb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aebb07dcb4f325b53512aa7772d772aed</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a0a2f0037b04a38c49a76fd3a3f82f890</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a599601a533809bfccb9aa9ab4950591f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a6cdc6e46467d7238335d7ff9565e58ad</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>afb065e7bda8bf01572f288314c73ddd3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>acdfad02bfc9b3f1967dce4964bb48c15</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a439cded16c9e30f95bc589e9aa566c4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a969861653623709c1f84a282c62836dc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpecialOrthogonalOperationTpl</name>
    <filename>structpinocchio_1_1SpecialOrthogonalOperationTpl.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>LieGroupBase&lt; SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 2, 2 &gt;</type>
      <name>Matrix2</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>afb1b46ac7f29a620cd00456ddc117351</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::NumTraits&lt; Scalar &gt;::Real</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a7d782c7254b36afca625321e5415f503</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8f8d00d32e1596833809cf7ee2d3c4e6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8eecb8b5730f4d59bb7b1bc1701ac5d8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a1da0fd3beb71956526229ff54a444a75</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a006307f472dea76667f06155a2f83684</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a38969740a737b5b2c123f70662c45657</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a15f3b6cbb3fdb4b2f1c46ae57c124498</anchor>
      <arglist>(SpecialOrthogonalOperationTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a48a87c00170b4cccd7156aaaf42f852c</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a22a22ef687ad7fe11141f268d1377edd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8b4c61e32434ced9807d6f8173979ee7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a1b476f47c78ceee989728da28a7e5709</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a541c8a655fdca0974c2c05f36bde9d87</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>af5bf5afe2a691ac3b1e609dbf5eeab81</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>abf4814d3ef88431a59387184b404cef3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a9df29b89d4bd57cb63b55f7677f2e3af</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a41aa3d0db8e1d8a245dbe38831ffd2de</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Matrix2Like::Scalar</type>
      <name>Jlog</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8883b649a3021a473776b457db1b1a7d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Matrix2Like::Scalar</type>
      <name>log</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a06b408375b0cbf7288f511e1a6bc61f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix2Like &gt; &amp;R)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a2e0c18fcbb3ae1a61332b3ab35e5703f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a3f622748494e54451b85228530b87164</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>af31814a234990e633c130f2e7c8ecbbc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ae4ee289538061f326872034a04c4685b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ad2e46f1ae42e02b1e8f51f0ee6e344be</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt;</name>
    <filename>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <base>LieGroupBase&lt; SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>Eigen::Map&lt; const Quaternion_t &gt;</type>
      <name>ConstQuaternionMap_t</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a06feec640692a479285d30d7feeb91fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaternion&lt; Scalar &gt;</type>
      <name>Quaternion_t</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a421befdf87eb54020cb0c8e7aefc6b02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Quaternion_t &gt;</type>
      <name>QuaternionMap_t</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a3ba25dd49e668a553bf3e9a0008fec9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::NumTraits&lt; Scalar &gt;::Real</type>
      <name>RealScalar</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a4c471c2720adee065ddc5f4f9e9e54bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a0e742f939d66b4ad39fa5d1d789030de</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a7cd986bc5c3467fec0efb4b7f974db4b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>af7324ca74c6e37cd49c28d22072c64d5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a691a8c20394180e3319edc990d241067</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ac89d9d81233f1fe290f1847f642f55f9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a628418e84117cd0dea2fd8af89e9abb1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J_out) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a40d6c637ce812aacbaa63bd468645418</anchor>
      <arglist>(SpecialOrthogonalOperationTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a5ed706dc3932ba9bc73e15f56429f066</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>aaa6a78aa6b7815c0dfdd48403831c509</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a702efe5d4fc1586f76f54091cd488035</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a9bdd97c52d1a392190f6ca3d85c900b9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a973469bef9ad246a804b041ab27791dc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a7771929b766a249a39a5700f59da3fb8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ac5e24142eefa6942e4dd72f5dda9b8b6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>interpolate_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a6733c14ca05030e3d686b596473b8628</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a18616a5e50152d522ecdbe8ce8a59139</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isSameConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ab924b0bb2ad5c7df39770be37a4304d3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Scalar &amp;prec)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a96c86539c8aa52b511fc944ba9a933bd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a4543fff832bf4431bee37af83b6533b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>ad5a42d952e17d76380f11b652e3e02e1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a1d59da4a39984368de4583bc2b3f44db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>adea376a61a1f2ecda8884adda313b164</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>squaredDistance_impl</name>
      <anchorfile>structpinocchio_1_1SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4.html</anchorfile>
      <anchor>a8b4a735b2484b94a4dcfaf6db7915bd6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::serialization::StaticBuffer</name>
    <filename>structpinocchio_1_1serialization_1_1StaticBuffer.html</filename>
    <member kind="function">
      <type>char *</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>a66861abf219832c3f99c562c051fa469</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const char *</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>a820c67b86d19023e6bfcf2f686dade07</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>af9c3868d2da66a75ef087b431713098b</anchor>
      <arglist>(const size_t new_size)</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>size</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>a2904b166e4fbe9ce783866f21ef0db21</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StaticBuffer</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>a0713794eb8c4bc1f8d9ed4ba347989db</anchor>
      <arglist>(const size_t n)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; char &gt;</type>
      <name>m_data</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>a3203c5b9274935bab2ff44671ab12eb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>m_size</name>
      <anchorfile>structpinocchio_1_1serialization_1_1StaticBuffer.html</anchorfile>
      <anchor>a1363c6b44b8ea6fcff1c1969b257b002</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::StdAlignedVectorPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1StdAlignedVectorPythonVisitor.html</filename>
    <templarg></templarg>
    <templarg>NoProxy</templarg>
    <templarg>EnableFromPythonListConverter</templarg>
    <base>StdContainerFromPythonList&lt; container::aligned_vector&lt; T &gt; &gt;</base>
    <member kind="typedef">
      <type>StdContainerFromPythonList&lt; vector_type &gt;</type>
      <name>FromPythonListConverter</name>
      <anchorfile>structpinocchio_1_1python_1_1StdAlignedVectorPythonVisitor.html</anchorfile>
      <anchor>aefc9e8e25f5dcbf70b6b3331e18767f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>container::aligned_vector&lt; T &gt;</type>
      <name>vector_type</name>
      <anchorfile>structpinocchio_1_1python_1_1StdAlignedVectorPythonVisitor.html</anchorfile>
      <anchor>acab81fbedd4de9151b2a1cf50509a46c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>static ::boost::python::class_&lt; vector_type &gt;</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1StdAlignedVectorPythonVisitor.html</anchorfile>
      <anchor>aaf38d2713434b91f79724b98b9145da6</anchor>
      <arglist>(const std::string &amp;class_name, const std::string &amp;doc_string=&quot;&quot;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::StdContainerFromPythonList</name>
    <filename>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</filename>
    <templarg>vector_type</templarg>
    <member kind="typedef">
      <type>vector_type::value_type</type>
      <name>T</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a2c3456d37553e5bdc45efe362a83be13</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>construct</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a0c27f5e2252a0c5a89ce5cdfd2993c55</anchor>
      <arglist>(PyObject *obj_ptr, boost::python::converter::rvalue_from_python_stage1_data *memory)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void *</type>
      <name>convertible</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a29e71bcd040ec358b0d890627a6173c3</anchor>
      <arglist>(PyObject *obj_ptr)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>register_converter</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>ae2579624153cd1e256061cb84b5e407a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>::boost::python::list</type>
      <name>tolist</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a010aa34df279efd0d3bfea216ebc054c</anchor>
      <arglist>(vector_type &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>StdContainerFromPythonList&lt; container::aligned_vector&lt; T &gt; &gt;</name>
    <filename>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</filename>
    <member kind="typedef">
      <type>container::aligned_vector&lt; T &gt; ::value_type</type>
      <name>T</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a2c3456d37553e5bdc45efe362a83be13</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>construct</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a0c27f5e2252a0c5a89ce5cdfd2993c55</anchor>
      <arglist>(PyObject *obj_ptr, boost::python::converter::rvalue_from_python_stage1_data *memory)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void *</type>
      <name>convertible</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a29e71bcd040ec358b0d890627a6173c3</anchor>
      <arglist>(PyObject *obj_ptr)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>register_converter</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>ae2579624153cd1e256061cb84b5e407a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>::boost::python::list</type>
      <name>tolist</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a010aa34df279efd0d3bfea216ebc054c</anchor>
      <arglist>(container::aligned_vector&lt; T &gt; &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>StdContainerFromPythonList&lt; std::vector&lt; T, Allocator &gt; &gt;</name>
    <filename>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</filename>
    <member kind="typedef">
      <type>std::vector&lt; T, Allocator &gt; ::value_type</type>
      <name>T</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a2c3456d37553e5bdc45efe362a83be13</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>construct</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a0c27f5e2252a0c5a89ce5cdfd2993c55</anchor>
      <arglist>(PyObject *obj_ptr, boost::python::converter::rvalue_from_python_stage1_data *memory)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void *</type>
      <name>convertible</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a29e71bcd040ec358b0d890627a6173c3</anchor>
      <arglist>(PyObject *obj_ptr)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>register_converter</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>ae2579624153cd1e256061cb84b5e407a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>::boost::python::list</type>
      <name>tolist</name>
      <anchorfile>structpinocchio_1_1python_1_1StdContainerFromPythonList.html</anchorfile>
      <anchor>a010aa34df279efd0d3bfea216ebc054c</anchor>
      <arglist>(std::vector&lt; T, Allocator &gt; &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::python::StdVectorPythonVisitor</name>
    <filename>structpinocchio_1_1python_1_1StdVectorPythonVisitor.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg>NoProxy</templarg>
    <templarg>EnableFromPythonListConverter</templarg>
    <base>StdContainerFromPythonList&lt; std::vector&lt; T, Allocator &gt; &gt;</base>
    <member kind="typedef">
      <type>StdContainerFromPythonList&lt; vector_type &gt;</type>
      <name>FromPythonListConverter</name>
      <anchorfile>structpinocchio_1_1python_1_1StdVectorPythonVisitor.html</anchorfile>
      <anchor>a4b873fb3205056f1e5d54c97d4d247b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; T, Allocator &gt;</type>
      <name>vector_type</name>
      <anchorfile>structpinocchio_1_1python_1_1StdVectorPythonVisitor.html</anchorfile>
      <anchor>a906d9517e78d81c0dca20a26d4e4d442</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>static ::boost::python::class_&lt; vector_type &gt;</type>
      <name>expose</name>
      <anchorfile>structpinocchio_1_1python_1_1StdVectorPythonVisitor.html</anchorfile>
      <anchor>a4aae82574ccd4b84dbb7a2e1fbecf840</anchor>
      <arglist>(const std::string &amp;class_name, const std::string &amp;doc_string=&quot;&quot;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::Symmetric3Tpl</name>
    <filename>classpinocchio_1_1Symmetric3Tpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <class kind="struct">pinocchio::Symmetric3Tpl::AlphaSkewSquare</class>
    <class kind="struct">pinocchio::Symmetric3Tpl::SkewSquare</class>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af6d35956825a0af0af2079cbcbdfb679a5997df76a67b0736c6d9f11914d0017b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 2, 2, Options &gt;</type>
      <name>Matrix2</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a9c9871088be15c7927f9266ef5ce47f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>afd9153eee961cf797446c9cb9d17d70c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 2, Options &gt;</type>
      <name>Matrix32</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aaacbd9e6bdbd5984d9482ded6173021d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af6d35956825a0af0af2079cbcbdfb679a5997df76a67b0736c6d9f11914d0017b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a5f41fb96e53d1c1101b0e4efa6ce5709</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a0a2b6f8d1210abd125e91137884102e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af3d7fa5e59b901101b8286f3def354c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aa8f8dc5df1f317875d926a36f66590fb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector6 &amp;</type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a05100682c6cd42be303789bb27ae519e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector6 &amp;</type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a0fe406f5b908739256363d2d328e19a9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix32</type>
      <name>decomposeltI</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ad6a192f74054b5c1fd34f84cfd2fe42e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>fill</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a785f8c31681198a51a93b9683897ac20</anchor>
      <arglist>(const Scalar value)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a4e3a92d3cae7ed31df483072f8aba8b5</anchor>
      <arglist>(const Symmetric3Tpl &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ab71b082bca7770439d49ee3aae1ce565</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix3</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a65e40f872f2b01fbf79923b0e6c9c0c8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix3</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a3c1fc2bc3a7500c13370e08c2bbc69c6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af809ce749943ff6fa2e5ff639c5f6a78</anchor>
      <arglist>(const Symmetric3Tpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a9574ad40ea856ef6c60248f9c43adbe9</anchor>
      <arglist>(const int &amp;i, const int &amp;j) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a70c41b0b409a60cdf6460fd04544aff8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af6a0c99c1bd6e8c435a5ce2dd18b019f</anchor>
      <arglist>(const Symmetric3Tpl &amp;s2) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ae9b2d1a36dfccda3d05674e54fd574f4</anchor>
      <arglist>(const Matrix3 &amp;S) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aab06ae77f162c40d7ff990cbd36a7df3</anchor>
      <arglist>(const Symmetric3Tpl &amp;s2)</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a93a53ae6458de150d62aa3c615eee605</anchor>
      <arglist>(const SkewSquare &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a92f1f256c7b4e7355a18e091396ccd27</anchor>
      <arglist>(const AlphaSkewSquare &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a9e379b64f5a0f30ee674b070c154dbfd</anchor>
      <arglist>(const Matrix3 &amp;S) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a112daa634036d3b6ea701381e1d6841c</anchor>
      <arglist>(const SkewSquare &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a817bc3317ad2c46f1000bbfadd7ec6a3</anchor>
      <arglist>(const AlphaSkewSquare &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a92bb90f875597cff19090bff3dc25af3</anchor>
      <arglist>(const Symmetric3Tpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>rotate</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af2ca2fd7ef589728bb52f22363d81769</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;R) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a62bebb063097ce36fd5c633b5aa60fa4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ab85a4b0340f90963f0023c4f7cd530fb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ae14b772c99b5a6e3e4ad9f1d1c937a48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix3</type>
      <name>svx</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>abf25aa533d0cd129162e613dc8f41ae3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a048191d33a7da1a230a0cff1f4e4320c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a60ba1dd831c4e73b629bbeb6aeb49825</anchor>
      <arglist>(const Eigen::Matrix&lt; Sc, 3, 3, Opt &gt; &amp;I)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ade7913bbd335b8ebdf463ea5e752e873</anchor>
      <arglist>(const Vector6 &amp;I)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a934494b5b5c0266a0f7d354457b72e8a</anchor>
      <arglist>(const Scalar &amp;a0, const Scalar &amp;a1, const Scalar &amp;a2, const Scalar &amp;a3, const Scalar &amp;a4, const Scalar &amp;a5)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a4e017b41b57fe4242057b543c3987f26</anchor>
      <arglist>(const Vector3 &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix3</type>
      <name>vxs</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aa38698851d051b08a1759563abd2cbb9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>Identity</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>afa432988f9424d14609a5be6f532fa18</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>acc36124d527a55c398f760242bb6ffa9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>RandomPositive</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aac2320881df6e4d9971b3610941917c1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>rhsMult</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a6dd8fcbb7063a04e0dc021509d7972db</anchor>
      <arglist>(const Symmetric3Tpl &amp;S3, const Eigen::MatrixBase&lt; V3in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>svx</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ae4daa35ce3740cc1d3cb6c21c6abcb66</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Symmetric3Tpl &amp;S3, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxs</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a00b128e80d215db843f832f556cb99fc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Symmetric3Tpl &amp;S3, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>abb59b6c38aef60f8da2e6c6fa7c71291</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_data</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a96f0a4554c7f3b722757a2753de3e423</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend AlphaSkewSquare</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a0bf755c72a04834e6d08ca90fb778cc4</anchor>
      <arglist>(const Scalar &amp;m, const SkewSquare &amp;sk)</arglist>
    </member>
    <member kind="friend">
      <type>friend Matrix3</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a82e714f205bc45f32c6cabf4ed3f7c3c</anchor>
      <arglist>(const Symmetric3Tpl &amp;S, const Eigen::MatrixBase&lt; D &gt; &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Symmetric3Tpl&lt; double, 0 &gt;</name>
    <filename>classpinocchio_1_1Symmetric3Tpl.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 2, 2, Options &gt;</type>
      <name>Matrix2</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a9c9871088be15c7927f9266ef5ce47f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>afd9153eee961cf797446c9cb9d17d70c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 2, Options &gt;</type>
      <name>Matrix32</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aaacbd9e6bdbd5984d9482ded6173021d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af6d35956825a0af0af2079cbcbdfb679a5997df76a67b0736c6d9f11914d0017b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>Scalar</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a5f41fb96e53d1c1101b0e4efa6ce5709</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a0a2b6f8d1210abd125e91137884102e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af3d7fa5e59b901101b8286f3def354c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl&lt; NewScalar, Options &gt;</type>
      <name>cast</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aa8f8dc5df1f317875d926a36f66590fb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector6 &amp;</type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a05100682c6cd42be303789bb27ae519e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector6 &amp;</type>
      <name>data</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a0fe406f5b908739256363d2d328e19a9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix32</type>
      <name>decomposeltI</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ad6a192f74054b5c1fd34f84cfd2fe42e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>fill</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a785f8c31681198a51a93b9683897ac20</anchor>
      <arglist>(const Scalar value)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isApprox</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a4e3a92d3cae7ed31df483072f8aba8b5</anchor>
      <arglist>(const Symmetric3Tpl &amp;other, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ab71b082bca7770439d49ee3aae1ce565</anchor>
      <arglist>(const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision()) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix3</type>
      <name>matrix</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a65e40f872f2b01fbf79923b0e6c9c0c8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator Matrix3</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a3c1fc2bc3a7500c13370e08c2bbc69c6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af809ce749943ff6fa2e5ff639c5f6a78</anchor>
      <arglist>(const Symmetric3Tpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a9574ad40ea856ef6c60248f9c43adbe9</anchor>
      <arglist>(const int &amp;i, const int &amp;j) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a70c41b0b409a60cdf6460fd04544aff8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af6a0c99c1bd6e8c435a5ce2dd18b019f</anchor>
      <arglist>(const Symmetric3Tpl &amp;s2) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator+</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ae9b2d1a36dfccda3d05674e54fd574f4</anchor>
      <arglist>(const Matrix3 &amp;S) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl &amp;</type>
      <name>operator+=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aab06ae77f162c40d7ff990cbd36a7df3</anchor>
      <arglist>(const Symmetric3Tpl &amp;s2)</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a93a53ae6458de150d62aa3c615eee605</anchor>
      <arglist>(const SkewSquare &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a92f1f256c7b4e7355a18e091396ccd27</anchor>
      <arglist>(const AlphaSkewSquare &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a9e379b64f5a0f30ee674b070c154dbfd</anchor>
      <arglist>(const Matrix3 &amp;S) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a112daa634036d3b6ea701381e1d6841c</anchor>
      <arglist>(const SkewSquare &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl &amp;</type>
      <name>operator-=</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a817bc3317ad2c46f1000bbfadd7ec6a3</anchor>
      <arglist>(const AlphaSkewSquare &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a92bb90f875597cff19090bff3dc25af3</anchor>
      <arglist>(const Symmetric3Tpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>Symmetric3Tpl</type>
      <name>rotate</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>af2ca2fd7ef589728bb52f22363d81769</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;R) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIdentity</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a62bebb063097ce36fd5c633b5aa60fa4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandom</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ab85a4b0340f90963f0023c4f7cd530fb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ae14b772c99b5a6e3e4ad9f1d1c937a48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Matrix3</type>
      <name>svx</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>abf25aa533d0cd129162e613dc8f41ae3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a048191d33a7da1a230a0cff1f4e4320c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a60ba1dd831c4e73b629bbeb6aeb49825</anchor>
      <arglist>(const Eigen::Matrix&lt; Sc, 3, 3, Opt &gt; &amp;I)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ade7913bbd335b8ebdf463ea5e752e873</anchor>
      <arglist>(const Vector6 &amp;I)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Symmetric3Tpl</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a934494b5b5c0266a0f7d354457b72e8a</anchor>
      <arglist>(const Scalar &amp;a0, const Scalar &amp;a1, const Scalar &amp;a2, const Scalar &amp;a3, const Scalar &amp;a4, const Scalar &amp;a5)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>vtiv</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a4e017b41b57fe4242057b543c3987f26</anchor>
      <arglist>(const Vector3 &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Matrix3</type>
      <name>vxs</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aa38698851d051b08a1759563abd2cbb9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>Identity</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>afa432988f9424d14609a5be6f532fa18</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>Random</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>acc36124d527a55c398f760242bb6ffa9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>RandomPositive</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>aac2320881df6e4d9971b3610941917c1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>rhsMult</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a6dd8fcbb7063a04e0dc021509d7972db</anchor>
      <arglist>(const Symmetric3Tpl &amp;S3, const Eigen::MatrixBase&lt; V3in &gt; &amp;vin, const Eigen::MatrixBase&lt; V3out &gt; &amp;vout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>svx</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>ae4daa35ce3740cc1d3cb6c21c6abcb66</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Symmetric3Tpl &amp;S3, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>vxs</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a00b128e80d215db843f832f556cb99fc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Symmetric3Tpl &amp;S3, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Symmetric3Tpl</type>
      <name>Zero</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>abb59b6c38aef60f8da2e6c6fa7c71291</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_data</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a96f0a4554c7f3b722757a2753de3e423</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend AlphaSkewSquare</type>
      <name>operator*</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a0bf755c72a04834e6d08ca90fb778cc4</anchor>
      <arglist>(const Scalar &amp;m, const SkewSquare &amp;sk)</arglist>
    </member>
    <member kind="friend">
      <type>friend Matrix3</type>
      <name>operator-</name>
      <anchorfile>classpinocchio_1_1Symmetric3Tpl.html</anchorfile>
      <anchor>a82e714f205bc45f32c6cabf4ed3f7c3c</anchor>
      <arglist>(const Symmetric3Tpl &amp;S, const Eigen::MatrixBase&lt; D &gt; &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TalosArmLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TalosArmLoader.html</filename>
    <base>example_robot_data::robots_loader::TalosLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosArmLoader.html</anchorfile>
      <anchor>a81e652c5d07b0f9623aeaef71395b256</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosArmLoader.html</anchorfile>
      <anchor>a4ee0b7d1a7231b09ee224bd1abcac5e1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TalosBoxLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TalosBoxLoader.html</filename>
    <base>example_robot_data::robots_loader::TalosLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosBoxLoader.html</anchorfile>
      <anchor>a92b8476b9f0375e05ad136331ac778b7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TalosFullBoxLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TalosFullBoxLoader.html</filename>
    <base>example_robot_data::robots_loader::TalosLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosFullBoxLoader.html</anchorfile>
      <anchor>ad70df7ca822e2307db14476340d70c46</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TalosFullLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TalosFullLoader.html</filename>
    <base>example_robot_data::robots_loader::TalosLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosFullLoader.html</anchorfile>
      <anchor>ae2ec3286917f833b148f5d259af73a43</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TalosLegsLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TalosLegsLoader.html</filename>
    <base>example_robot_data::robots_loader::TalosLoader</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosLegsLoader.html</anchorfile>
      <anchor>a2e72b7d0d268db0eed454944c6656af8</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TalosLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TalosLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>free_flyer</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosLoader.html</anchorfile>
      <anchor>aa0a8614268b812cc99ead04b6dfec36d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>bool</type>
      <name>has_rotor_parameters</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosLoader.html</anchorfile>
      <anchor>acb34b42a4382d32d790e482d039c19a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosLoader.html</anchorfile>
      <anchor>a9a85371956d16b9e37a47ef96e0a31f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosLoader.html</anchorfile>
      <anchor>ad3123ac850678a0f8cb76f9e07ac012d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TalosLoader.html</anchorfile>
      <anchor>a35198b483c20c05bce0ea3eaa5dcfc75</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TaylorSeriesExpansion</name>
    <filename>structpinocchio_1_1TaylorSeriesExpansion.html</filename>
    <templarg>Scalar</templarg>
    <member kind="function" static="yes">
      <type>static Scalar</type>
      <name>precision</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion.html</anchorfile>
      <anchor>ad486d4df4bcff52c510b9b217d57ecfb</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TaylorSeriesExpansion&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1TaylorSeriesExpansion_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <base>pinocchio::TaylorSeriesExpansion</base>
    <member kind="typedef">
      <type>TaylorSeriesExpansion&lt; Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>afb069da905d41a1a3f49ff0927485be6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>static ::casadi::Matrix&lt; Scalar &gt;</type>
      <name>precision</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01_1_1casadi_1_1Matrix_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a3127fec79e92fb098b617b853a61affc</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TaylorSeriesExpansion&lt; CppAD::AD&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <base>pinocchio::TaylorSeriesExpansion</base>
    <member kind="typedef">
      <type>CppAD::AD&lt; Scalar &gt;</type>
      <name>ADScalar</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>af7c8b2803cc69609c8bf138e063046b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>TaylorSeriesExpansion&lt; Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a789027d8861d048e187fbc076648b5f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ADScalar</type>
      <name>precision</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1AD_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>aaf2ff1de8db64dbe9904d38a5951de2e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TaylorSeriesExpansion&lt; CppAD::cg::CG&lt; Scalar &gt; &gt;</name>
    <filename>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>TaylorSeriesExpansion&lt; Scalar &gt;</type>
      <name>Base</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>a2b19905652257f3d15ff8f8a9cd45a73</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CppAD::cg::CG&lt; Scalar &gt;</type>
      <name>CGScalar</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>ad418b3b4676d91e27052f487ec0c8b58</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static CGScalar</type>
      <name>precision</name>
      <anchorfile>structpinocchio_1_1TaylorSeriesExpansion_3_01CppAD_1_1cg_1_1CG_3_01Scalar_01_4_01_4.html</anchorfile>
      <anchor>af0a9e018d423aa78b371030e77d48691</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::Tensor</name>
    <filename>structpinocchio_1_1Tensor.html</filename>
    <templarg>Scalar_</templarg>
    <templarg>NumIndices_</templarg>
    <templarg>Options_</templarg>
    <templarg>IndexType</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae79fb4c65a380f0e15019d1a092077b4abfc7f2ab4a505fbb370438880f506a6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NumIndices</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae79fb4c65a380f0e15019d1a092077b4ab6df696e3610d426ca124dc527989feb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::array&lt; Index, NumIndices_ &gt;</type>
      <name>Dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>afdd2064ba657c2b04ef2ce5823160ff3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>IndexType</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>af1122babdcd827be507ce1d77dc85a93</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NumIndices</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae79fb4c65a380f0e15019d1a092077b4ab6df696e3610d426ca124dc527989feb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae79fb4c65a380f0e15019d1a092077b4abfc7f2ab4a505fbb370438880f506a6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Tensor &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>afe1dd133cc09048e940d168ffbe79254</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Tensor &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a18b99d96d128edef1668accc2b92de2d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a4ce9da7731c1da914c2c5e8aee064ec0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>aeee134d1122cdfaf49e9dc09a9fe7c85</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index</type>
      <name>dimension</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>acc9eb6fbc3533e2ad286062f18a579b2</anchor>
      <arglist>(std::size_t n) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Dimensions &amp;</type>
      <name>dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a7250fc40f4d227e3c15984dc51a9fc53</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions &amp;</type>
      <name>dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a8ba63b8726e6d89b8ce1d8a7785469d6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a3082e12b7a15de66f0152b0a3d7b0fca</anchor>
      <arglist>(const Tensor &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>aeff919deb4f5eb39281c783605a59b6f</anchor>
      <arglist>(Index i0) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a5de7abdcc416927b42e73fd8adff8b60</anchor>
      <arglist>(Index i0, Index i1) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a54fddbfd3d989937e8f6ee92237da12a</anchor>
      <arglist>(Index i0, Index i1, Index i2) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a88ae21d59afe1fe87978e74cdcc3ae5e</anchor>
      <arglist>(Index i0, Index i1, Index i2, Index i3) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ab6201c3c828a4ac2777ce9159c244486</anchor>
      <arglist>(Index i0, Index i1, Index i2, Index i3, Index i4) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae2989ea7c8ae20912ca65d493b896fdb</anchor>
      <arglist>(const Tensor &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index</type>
      <name>rank</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a63ed4fe7d81f7114a06abb899bd7eaaf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC void</type>
      <name>resize</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a0504130bf0812a08616fa2a335880922</anchor>
      <arglist>(const Eigen::array&lt; Index, NumIndices &gt; &amp;dimensions)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor &amp;</type>
      <name>setConstant</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>af5b13f5760f84b610fc3235c13e3baa6</anchor>
      <arglist>(const Scalar &amp;val)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor &amp;</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>afece03e2eee9b1eefdd13add7bc118b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor &amp;</type>
      <name>setZero</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ad8312e92d0b4b976346804987cbc9555</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index</type>
      <name>size</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a69e3e34c7f70d79d1ca46a673c674278</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a85c428f42b1b02171809142934bc2093</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a5cf77ab4499b7f12f11646e60e41d0aa</anchor>
      <arglist>(const Tensor &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>af83648abc9a3838b8266dafcc286b5b3</anchor>
      <arglist>(Index dim1)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ac09a5e25265379b7c0b8072b6eb03ba2</anchor>
      <arglist>(Index dim1, Index dim2)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a553ad1527c56928aac6ecab8f284686b</anchor>
      <arglist>(Index dim1, Index dim2, Index dim3)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a0500f045a321f8628d9758844ed77c1d</anchor>
      <arglist>(Index dim1, Index dim2, Index dim3, Index dim4)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a4592c2e1178779288bede876bcb8fc9e</anchor>
      <arglist>(Index dim1, Index dim2, Index dim3, Index dim4, Index dim5)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar_</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a8b01250adac6785c1459f15e5d01fc13</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>StorageType</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a069da3e999c1612f945ac1bdcee8d972</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Dimensions</type>
      <name>m_dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a12e6978284063af1c30f40e403464936</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StorageType</type>
      <name>m_storage</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ac32520de7bd638632b300e85d1c624b9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Tensor&lt; Scalar, 3, Options &gt;</name>
    <filename>structpinocchio_1_1Tensor.html</filename>
    <member kind="typedef">
      <type>Eigen::array&lt; Index, NumIndices_ &gt;</type>
      <name>Dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>afdd2064ba657c2b04ef2ce5823160ff3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::DenseIndex</type>
      <name>Index</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>af1122babdcd827be507ce1d77dc85a93</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NumIndices</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae79fb4c65a380f0e15019d1a092077b4ab6df696e3610d426ca124dc527989feb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae79fb4c65a380f0e15019d1a092077b4abfc7f2ab4a505fbb370438880f506a6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Tensor &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>afe1dd133cc09048e940d168ffbe79254</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Tensor &amp;</type>
      <name>base</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a18b99d96d128edef1668accc2b92de2d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a4ce9da7731c1da914c2c5e8aee064ec0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *</type>
      <name>data</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>aeee134d1122cdfaf49e9dc09a9fe7c85</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index</type>
      <name>dimension</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>acc9eb6fbc3533e2ad286062f18a579b2</anchor>
      <arglist>(std::size_t n) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Dimensions &amp;</type>
      <name>dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a7250fc40f4d227e3c15984dc51a9fc53</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions &amp;</type>
      <name>dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a8ba63b8726e6d89b8ce1d8a7785469d6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator!=</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a3082e12b7a15de66f0152b0a3d7b0fca</anchor>
      <arglist>(const Tensor &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>aeff919deb4f5eb39281c783605a59b6f</anchor>
      <arglist>(Index i0) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a5de7abdcc416927b42e73fd8adff8b60</anchor>
      <arglist>(Index i0, Index i1) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a54fddbfd3d989937e8f6ee92237da12a</anchor>
      <arglist>(Index i0, Index i1, Index i2) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a88ae21d59afe1fe87978e74cdcc3ae5e</anchor>
      <arglist>(Index i0, Index i1, Index i2, Index i3) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar &amp;</type>
      <name>operator()</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ab6201c3c828a4ac2777ce9159c244486</anchor>
      <arglist>(Index i0, Index i1, Index i2, Index i3, Index i4) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator==</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ae2989ea7c8ae20912ca65d493b896fdb</anchor>
      <arglist>(const Tensor &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index</type>
      <name>rank</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a63ed4fe7d81f7114a06abb899bd7eaaf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC void</type>
      <name>resize</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a0504130bf0812a08616fa2a335880922</anchor>
      <arglist>(const Eigen::array&lt; Index, NumIndices &gt; &amp;dimensions)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor &amp;</type>
      <name>setConstant</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>af5b13f5760f84b610fc3235c13e3baa6</anchor>
      <arglist>(const Scalar &amp;val)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor &amp;</type>
      <name>setRandom</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>afece03e2eee9b1eefdd13add7bc118b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor &amp;</type>
      <name>setZero</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ad8312e92d0b4b976346804987cbc9555</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index</type>
      <name>size</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a69e3e34c7f70d79d1ca46a673c674278</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a85c428f42b1b02171809142934bc2093</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a5cf77ab4499b7f12f11646e60e41d0aa</anchor>
      <arglist>(const Tensor &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>af83648abc9a3838b8266dafcc286b5b3</anchor>
      <arglist>(Index dim1)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ac09a5e25265379b7c0b8072b6eb03ba2</anchor>
      <arglist>(Index dim1, Index dim2)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a553ad1527c56928aac6ecab8f284686b</anchor>
      <arglist>(Index dim1, Index dim2, Index dim3)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a0500f045a321f8628d9758844ed77c1d</anchor>
      <arglist>(Index dim1, Index dim2, Index dim3, Index dim4)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE</type>
      <name>Tensor</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a4592c2e1178779288bede876bcb8fc9e</anchor>
      <arglist>(Index dim1, Index dim2, Index dim3, Index dim4, Index dim5)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a8b01250adac6785c1459f15e5d01fc13</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>StorageType</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a069da3e999c1612f945ac1bdcee8d972</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Dimensions</type>
      <name>m_dimensions</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>a12e6978284063af1c30f40e403464936</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StorageType</type>
      <name>m_storage</name>
      <anchorfile>structpinocchio_1_1Tensor.html</anchorfile>
      <anchor>ac32520de7bd638632b300e85d1c624b9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>test_scalar_multiplication</name>
    <filename>structtest__scalar__multiplication.html</filename>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>pinocchio::SpatialAxis&lt; axis &gt;</type>
      <name>Axis</name>
      <anchorfile>structtest__scalar__multiplication.html</anchorfile>
      <anchor>ab7ebfd7b4328e991a1fea49f11cef404</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::MotionTpl&lt; Scalar &gt;</type>
      <name>Motion</name>
      <anchorfile>structtest__scalar__multiplication.html</anchorfile>
      <anchor>abee737d1883e3d0b0501141881b41447</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>Scalar</name>
      <anchorfile>structtest__scalar__multiplication.html</anchorfile>
      <anchor>abf85da44e019ccf57e91dd1b758e3f50</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structtest__scalar__multiplication.html</anchorfile>
      <anchor>ae56611afbb5fd0228b91a1b52405b22d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>test_scalar_multiplication_cartesian_axis</name>
    <filename>structtest__scalar__multiplication__cartesian__axis.html</filename>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>pinocchio::CartesianAxis&lt; axis &gt;</type>
      <name>Axis</name>
      <anchorfile>structtest__scalar__multiplication__cartesian__axis.html</anchorfile>
      <anchor>a7534071559c79e5fb1c586cd5a339625</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>Scalar</name>
      <anchorfile>structtest__scalar__multiplication__cartesian__axis.html</anchorfile>
      <anchor>a79b7bb197409b8ea5b48dba493f34ce8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1 &gt;</type>
      <name>Vector3</name>
      <anchorfile>structtest__scalar__multiplication__cartesian__axis.html</anchorfile>
      <anchor>a5272dbee3ed53b535baa5ce49417536b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structtest__scalar__multiplication__cartesian__axis.html</anchorfile>
      <anchor>af4f17f03b519d3967b6dbb59338db3e1</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_aba::TestABA</name>
    <filename>classbindings__aba_1_1TestABA.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>abb1426afb617b2a33f640139c2345237</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_aba</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>ae1814562db94cb7fb2ad9938fd74bb56</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_computeMinverse</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>ab991106938cc1030a3f4ff2810f7fcc3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>a5dc380c7fe5ab39abbd44ddbf6daac12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>a9f8b0bcae04eb827b68f36c654be96c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fext</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>aedecba6cf922f084442c412d5ee836d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>a91b88604bbac27d9093d3b32582e567c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>a27235633da9e65934190b373cf7eb393</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__aba_1_1TestABA.html</anchorfile>
      <anchor>ac89899d24e2010bece2b5d5b582595a9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestADOnJoints</name>
    <filename>structTestADOnJoints.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>af2799c1aa8040f04c4982456ae9e8ca3</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>a9d61f4e9f8f80f73000ac39304da9e20</anchor>
      <arglist>(const pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>a07e999df393a753c04b42d29aae1d038</anchor>
      <arglist>(const pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>a9a51864bad88f27b0ce1b207c166f98c</anchor>
      <arglist>(const pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>aa66614cb7d6ec7ac6cdd9d63da65f058</anchor>
      <arglist>(const pinocchio::JointModelTpl&lt; Scalar, Options, JointCollection &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>af53aedd21cf41201b475d5c1fd7db81b</anchor>
      <arglist>(const pinocchio::JointModelMimic&lt; JointModel_ &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>ac6d8fff2fae738292e1054c3ef125738</anchor>
      <arglist>(const pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollection &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>ad51fab443db2d870b2f4cfa620655519</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel_ &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>a758d0bf72a7f3440befbce76d035fa89</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>a0cdfdda20f3c6551637afc569a7fd92c</anchor>
      <arglist>(const pinocchio::JointModelMimic&lt; JointModel_ &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestADOnJoints.html</anchorfile>
      <anchor>a758d0bf72a7f3440befbce76d035fa89</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestCartesianProduct</name>
    <filename>structTestCartesianProduct.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>LieGroupCollectionTpl</templarg>
    <member kind="typedef">
      <type>CartesianProductOperationVariantTpl&lt; Scalar, Options, LieGroupCollectionTpl &gt;</type>
      <name>CartesianProduct</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>a13aeea91a94cb481bf6cebcbdd02327c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGeneric::ConfigVector_t</type>
      <name>ConfigVector_t</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>a0ef890149464af1173192c8a89264c28</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>LieGroupCollection</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>adae40a78a88b7c140f3637fe14ac433b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGenericTpl&lt; LieGroupCollection &gt;</type>
      <name>LieGroupGeneric</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>ae82f7487b262fbafdc62649e1a0b8114</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGeneric::TangentVector_t</type>
      <name>TangentVector_t</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>a52bd6988735db8215081432d8983dcf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>a46fd48b6475a94b2c2a473586f348d63</anchor>
      <arglist>(const LieGroupBase&lt; Derived &gt; &amp;lg) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestCartesianProduct.html</anchorfile>
      <anchor>a7a9c14559d2628de716c5fcec2433432</anchor>
      <arglist>(const LieGroupBase&lt; LieGroup &gt; &amp;lg, const CartesianProduct &amp;cp)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_com::TestComBindings</name>
    <filename>classbindings__com_1_1TestComBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>ab660b0d172a8b24f0d4dfe038c547f30</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_com_0</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a791c055b6f71a3e6ee4c873adde051f2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_com_1</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a76bb572084ae7bdcde067e1949b27210</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_com_2</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a4807fad2278c45ebd123361f60ed2cf2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_com_default</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a3854d51a3fd32a1fcce63512f434b401</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jcom_noupdate2</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a25f08daa57b5a2d1d79efea7fd3205e8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jcom_noupdate3</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a14328faabe6478f0f5aeca299734f40a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jcom_update3</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>abad49cfdd8b77833a5e246c17969ed06</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jcom_update4</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a9cfb0fa9e7b3ec82fdb53bcf65eed45f</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_mass</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a13afa9b2e477c7ebffb63a0855f2cd23</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_subtree_jacobian</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a9c015314f151d15783475ac6fd3b4641</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_subtree_masses</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a33631e06cac2a83e7b5daad41435d5eb</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>ad41d2d28fde8da25f9d77c07c2f24dda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>a95ff76b5538b7e199b70bdcebfe69b91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__com_1_1TestComBindings.html</anchorfile>
      <anchor>acc42fe3d57dd540238b665337c267589</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_data::TestData</name>
    <filename>classbindings__data_1_1TestData.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__data_1_1TestData.html</anchorfile>
      <anchor>a87e20a9ef0cb5965935e23a44949e001</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_copy</name>
      <anchorfile>classbindings__data_1_1TestData.html</anchorfile>
      <anchor>a14b6a0fe575f4a87923a8932823df439</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pickle</name>
      <anchorfile>classbindings__data_1_1TestData.html</anchorfile>
      <anchor>af0ed8e18d0c3382281b783fe86bac77c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_std_vector_field</name>
      <anchorfile>classbindings__data_1_1TestData.html</anchorfile>
      <anchor>a553219f7930f424c5e6ab97d1f31b109</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__data_1_1TestData.html</anchorfile>
      <anchor>a9652c2a9c107c3dea025c4d6458de765</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__data_1_1TestData.html</anchorfile>
      <anchor>a781f242edfae6deaacc422977f0a10d8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_centroidal_dynamics_derivatives::TestDeriavtives</name>
    <filename>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a86be8381542f6fc3a1ee969f108206ea</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_centroidal_derivatives</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>aaa35444379bdec7103e9538bd3456752</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>aaf2f435629de90f3e6e713044823b560</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a29fd2db95315e67ae7b6ce2e1a591209</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a6ab5158579013f1c8e71065135c1b82d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>aede179069dd8a627e9dde7e92295ca3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__centroidal__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>aa74a54b5fb4c00cdd550b5607a373e56</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_forward_dynamics_derivatives::TestDeriavtives</name>
    <filename>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a5060184cbbe0ddc26427ee8445e493b0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_aba_derivatives</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a10964faf30e8437ac4431b5acb109d78</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a5af61a1d721d1d3369a28ff5ede52064</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fext</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a41a6312440c3cf3d2b4a39e7a8394602</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a77d999bbaf0d32cdd053b67d5fc19d83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a37e97e93235fcf4e8fec66ee1598fb13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>aa4756896a0aac6cdc697c9b425aad3de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__forward__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>aca6228b3fde186ae96fa4524b3ae578f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_inverse_dynamics_derivatives::TestDeriavtives</name>
    <filename>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a3da7be1e209386e1fde709bfbeeca430</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_generalized_gravity_derivatives</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>abf6b3d87b92eb3f62dcf786e399edf07</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_rnea_derivatives</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a55a46afe8b5bb04c38ca5ff380eef17e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_static_torque_derivatives</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a9df0bbee2c395699a350009adc78d2d6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>af9ad7807dd4fc7960a9716016ea2b2ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a5ee149c965a07e1ed63c371d40a57bb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fext</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a23f413ac6d223531ca6ffa8520219acb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a9eb712abaeabb1c9ff378fb2479c91a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a3a84a20d3c0fd286a0df8187c2f7e0a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__inverse__dynamics__derivatives_1_1TestDeriavtives.html</anchorfile>
      <anchor>a18ce68f56abeeeaf031be40175a144d6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_dynamics::TestDynamicsBindings</name>
    <filename>classbindings__dynamics_1_1TestDynamicsBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>ad902e7f15a247037b8a03450438ca543</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_computeKKTMatrix</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>ae55896dab7e4d54bcc0d8a5fffef3e46</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_forwardDynamics_default</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a25785c0cd7076c028a8b6682db262a42</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_forwardDynamics_no_q</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a0518bb8aad2b96de111036f244c372d6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_forwardDynamics_q</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a96d9637ddf6aa9099eee0b1d164b24b8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_forwardDynamics_rcoeff</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a1fd87faa04e6aef1adfd311608aaeaca</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_impulseDynamics_default</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>ae8e9db062506039b2e88ded7ba0e7a14</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_impulseDynamics_no_q</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a25f54365485a8288f0548ee887989587</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_impulseDynamics_q</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a2ac4b61edf712735b7964051cc1acf57</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_impulseDynamics_r</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>aaa5349f87b1bf8c46ef847406e493974</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_impulseDynamics_rd</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a3741e48b1ee886352c39b1e9f391e7de</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a8cf7154f549f5ef35ab487ffde4300f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gamma</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a63833f921f3ccdcb6d4da049295a4d03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a6f69ddeeed7656404dc6f1b6d0d845c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>aa725df176d9faa992b6f24904e2774dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>af603c806a3e06d77a0e41ea663a30926</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a58fdec5c43f4efc881605ed7b1831e32</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau0</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>ae679ca6ed148c783cf9408dfb59b9822</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tolerance</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>aa4c6f348c5721008c8e52af17edd1e62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>a7ecd189291aa28e130cb9de3e763c1aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>classbindings__dynamics_1_1TestDynamicsBindings.html</anchorfile>
      <anchor>af5bce792bd7cf3ff895c0b0c099a6799</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>explog::TestExpLog</name>
    <filename>classexplog_1_1TestExpLog.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_exp3</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a5c4f27cafdcbd3744e4f34c9b9b0abe1</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_exp6</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a77cf53ddc2b5b418c657ddf83ad564a4</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_explog</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a296e689a459fffbc12ba53ea448b1004</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jexp3</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a76e546bd95cebdf423a562705d4b5cff</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jexp6</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a3105f46b51c388fc6ca0e3436c3bbfc3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jlog3</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a12533fc73fd17841cd1c3cdd83646293</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_Jlog6</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>ae918ea678419f3aa44b2175f902dd29d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_log3</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a093898e65c3e026178b174263a90130e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_log6</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>ab9ba6f4ec9571cb0af3fdfcab030c346</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_log6_homogeneous</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>ac1ec68213ef501c5d1e31645aac1afd8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_skew</name>
      <anchorfile>classexplog_1_1TestExpLog.html</anchorfile>
      <anchor>a54a2d4078e5578aa49ec381070da814b</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_fcl_transform::TestFCLTransformConversion</name>
    <filename>classbindings__fcl__transform_1_1TestFCLTransformConversion.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_from_SE3</name>
      <anchorfile>classbindings__fcl__transform_1_1TestFCLTransformConversion.html</anchorfile>
      <anchor>add7494c102a36ba1d239ca0d42c2f896</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_to_SE3</name>
      <anchorfile>classbindings__fcl__transform_1_1TestFCLTransformConversion.html</anchorfile>
      <anchor>a37994f8b2012fd5d65b359d9459189b3</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_force::TestForceBindings</name>
    <filename>classbindings__force_1_1TestForceBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_conversion</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>a9ebcf1f354e7b4b1ea88f9de47afb5a8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_internal_sums</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>aa1a77b631e1810bdb562ac4ad017becc</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_se3_action</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>a564ab135ee412c0b3d61db08180afba0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_angular</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>a1a409f52421382a7b76c0f6d380f14a9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_linear</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>a433d07c5fe74ad0abd6b03cb6e4a130a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_vector</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>a24f7c0329f88c93901ec148401e5f37c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setRandom</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>af3c8e784a849443e3d028997e6ecf997</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setZero</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>ae6a4fe46e99c76854f5fc288fcf0e934</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_several_init</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>ad918598cf84fc50316c2a6f7ef99aa9c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_zero_getters</name>
      <anchorfile>classbindings__force_1_1TestForceBindings.html</anchorfile>
      <anchor>ae26141795d416fc9e7a14e5ae6747be4</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_frame_derivatives::TestFrameBindings</name>
    <filename>classbindings__frame__derivatives_1_1TestFrameBindings.html</filename>
    <base>test_case::PinocchioTestCase</base>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>af76eb4c262ab68c0d6f8737e23e34987</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>tearDown</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a8402b83755aef1ffd5e6b0e678c68049</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_derivatives</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a4e65bf635bee771a1793615ee9431253</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a39acc8d427d87915d1001ffabb5eedc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>af437355878befa001c2276095c4492f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_idx</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a717819ba1cb295ce4c0d95b1302b95c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_name</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>ab8cdc087e3b51450503498714684c280</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_placement</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>ab5deab55cb2aa322566479a4a6f17ae1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_type</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a1935e2e1752b35d0f35d8f597910cf3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a8e7b209b7dac8edc07fb61fbf1b926f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parent_idx</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>af1c48a59e5ae24196893fffabc55c850</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a3d39cb2b40e1d9455d2ab3cf45e4f524</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__frame__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a116c69983360f8e27fafebdad4b26b8f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_frame::TestFrameBindings</name>
    <filename>classbindings__frame_1_1TestFrameBindings.html</filename>
    <base>test_case::PinocchioTestCase</base>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>aa83b93511b9386e277dc0f5bd5616bf0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>tearDown</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a639fe12d02eddf09c5b73bb054546626</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_frame_algo</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>afc505da8628846c301169f23819ab709</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_frame_equality</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a8a99995a12fed6dba89eea2172fa4687</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_getters</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>aeb8fad5f7ee35e832fd9c1d3a99ee73c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_name_get_set</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a49bd909a13583b08eab6aff01c869068</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_parent_get_set</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>ab4d5d288e452eaae068ad2534e950708</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pickle</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a2e82b076b3d65231be54aac8f970390f</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_placement_get_set</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a26d61fe96fc11e4b978b78ee9860bf9e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_type_get_set</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>adca57d0aa5d116497854bf453bc4b86c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_idx</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>aab3d0afd714cfa7b8011719fd3ecbd1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_name</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a400bebdd562907f8b1d29c3a248bac8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_placement</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>af5b47f8ce680e213bff9e7b3fd507125</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_type</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a51170d9db0d0f8a8b7cce71e215d20e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a0e55fd4d58e70dbb92ec62540e388e8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parent_idx</name>
      <anchorfile>classbindings__frame_1_1TestFrameBindings.html</anchorfile>
      <anchor>a312e9523f75f24f0a838a50c967b0772</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_kinematics_derivatives::TestFrameBindings</name>
    <filename>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</filename>
    <base>test_case::PinocchioTestCase</base>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>ae47714cbfcd472aa59e48f21822cff65</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>tearDown</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>aa6186017facd3108b607863f580bd391</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_derivatives</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>ab1d8613e9d87581665313305bb061da4</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a7f72dbe8540014729614643e70087be0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a484c5d81c4f7cf84ec2ddb4fbb8e6623</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_idx</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a8784a3ec110808bf170e32808cad0348</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>ac3248fb86c088c2881cafb14115d8d72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a588dd290d723601b57964191fa684373</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__kinematics__derivatives_1_1TestFrameBindings.html</anchorfile>
      <anchor>a9ba9ed531a8e07a3ca9cd3107ebf2de2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_geometry_model::TestGeometryModelBindings</name>
    <filename>classbindings__geometry__model_1_1TestGeometryModelBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_pair_copy</name>
      <anchorfile>classbindings__geometry__model_1_1TestGeometryModelBindings.html</anchorfile>
      <anchor>ada189cd2c40addad447c02a38548d7f0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pair_equals</name>
      <anchorfile>classbindings__geometry__model_1_1TestGeometryModelBindings.html</anchorfile>
      <anchor>aff0a556c1529e531dc024ba2a7137055</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_geometry_object::TestGeometryObjectBindings</name>
    <filename>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a7711610c83fd27d95553f0b40b977a5b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_copy</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a61545f512fb92daab058be39de0c32a5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_create_data</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a10e9fa41e31dc165f488a29304094a99</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_create_datas</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a65544ce058f36ac898cdfde60954022b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_meshpath_get</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a117cfa4dd967be0fefef1c5bc0652afa</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_name_get_set</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a4c58373b1944a90daff963f1f6fd2957</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_parent_get_set</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a0ff68dc741535a36214fc8ec5b6f2107</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_placement_get_set</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>ac13da2c5bbf46d9cfafb808ba5797bcf</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_scalar_scale</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a9fb24c50730328ea2cb0f39ee2594351</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_scale</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a0f357d009538cc88a3b4e64543a8dbb8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a4887f11a02ab8f5aac3d7a558c302fba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__geometry__object_1_1TestGeometryObjectBindings.html</anchorfile>
      <anchor>a472acede9a70cd0d96c8ffed5c6e2cc4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_urdf::TestGeometryObjectUrdfBindings</name>
    <filename>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a8218fa6928d7ecfab320e08b9002dab5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_load</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>af8771b72808baa676d6de03b96e33a34</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pickle</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>ac2aa024a590430e98af5c013b40ee4e8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_self_load</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>ae9a2ee8585b9373e067b4407091e4fb5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_xml</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a32574e9aebf26526fda88d5acc79cabd</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>current_file</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a23da590abb5dc9691ee3186f40da2c5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_dir</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a9d6956e56af365413587c109d95a2254</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>classbindings__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a8d19af41c86b31048aa04a99d88cacbe</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_geometry_model_urdf::TestGeometryObjectUrdfBindings</name>
    <filename>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>ad454a709c2f6fdf9277c7ed2516b7a61</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_deprecated_signatures</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a07830ea9c61d18db84354fd8975c380e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_load</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>ade86da41a092930f474b9c9d435e4baa</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_multi_load</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a78f99ac9a7de97709180f1f811ee8326</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_self_load</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a90282d8bf637595934f70d7f718e574d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>current_file</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a495c73b6c6218badd78f4e6efbed327e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_path</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a73962ba76a9d4a8c3f6ce699af0b72ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_dir</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a2d008503ae4376e6c5d681188d7eb2a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>classbindings__geometry__model__urdf_1_1TestGeometryObjectUrdfBindings.html</anchorfile>
      <anchor>a703e6836a14e4adfa79ceb184f5e23a4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_inertia::TestInertiaBindings</name>
    <filename>classbindings__inertia_1_1TestInertiaBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_array</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>abd41b6ddc86a520d2ebeea0d2b0114f9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_dynamic_parameters</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a8f85671a5fa692d9b1a1b49b63028893</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_identity_getters</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a257b7ac2bc81c8b461707c75150d019c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_internal_sums</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a39ef26112018c69936a6edca4d56fd35</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_se3_action</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>ac5347bb3d1d7023d7b2eaadd00890020</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_inertia</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a091a69bf563c2afca1e1352d326014e5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_lever</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a93e9ae611014642ea1b40a8e72be3729</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_mass</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>aca67d367cca46a03d091106962de7b45</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setIdentity</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a0a96c544d2371fd15b4240ae3a1f00c4</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setRandom</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>afbce057f7d9e64db7e3ebd5ea22b26a3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setZero</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a8fea0c68de79acb4f1be6c245bdadf81</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_several_init</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>a8cd0e0590e7901410717fda3c922a251</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_zero_getters</name>
      <anchorfile>classbindings__inertia_1_1TestInertiaBindings.html</anchorfile>
      <anchor>ad88d940190f887ded0e2a0af4a931651</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJoint</name>
    <filename>structTestJoint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJoint.html</anchorfile>
      <anchor>a62bba42224b735c536bfe08967e059e0</anchor>
      <arglist>(const T) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJoint.html</anchorfile>
      <anchor>a066294b8dfb232dc2b68eda3c1a7da4e</anchor>
      <arglist>(const pinocchio::JointModelRevoluteUnaligned &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJoint.html</anchorfile>
      <anchor>a7c0a91cf2766a7567bbb797dd3535166</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJoint.html</anchorfile>
      <anchor>a5145ed7f09359f666a6ee99c1a13c5ba</anchor>
      <arglist>(const pinocchio::JointModelComposite &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJoint.html</anchorfile>
      <anchor>a91a29d994f9d0a5f2b70ff60b5fce175</anchor>
      <arglist>(const pinocchio::JointModelPrismaticUnaligned &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointComposite</name>
    <filename>structTestJointComposite.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointComposite.html</anchorfile>
      <anchor>a2d0534c88d43bf6ecc69980d20f96d9a</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointComposite.html</anchorfile>
      <anchor>ae8f6372736006893a6044155eb966de7</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteUnaligned &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointComposite.html</anchorfile>
      <anchor>a6e98380c403fadd14640a1ea67891fbe</anchor>
      <arglist>(const JointModelBase&lt; JointModelPrismaticUnaligned &gt; &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_joint_composite::TestJointCompositeBindings</name>
    <filename>classbindings__joint__composite_1_1TestJointCompositeBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_add_joint</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>a2fec9dd4393971c1b4e6337540c74985</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_add_joint_concat</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>a4b0a283930f023f030fad57099c19d5a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_add_joint_return</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>a7ac56faa25463b41ea4cfd519ee963e8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_basic</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>ae388417d15ad685ab52851e8b582a35d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_empty_constructor</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>a799c430d996730b944c9cb88061ee08f</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_joint_constructor</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>aafca6ddeffc45668c161ef1d890ba730</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_reserve_constructor</name>
      <anchorfile>classbindings__joint__composite_1_1TestJointCompositeBindings.html</anchorfile>
      <anchor>aba931af8f21da022e79dc08db6cefe12</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointConstraint</name>
    <filename>structTestJointConstraint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointConstraint.html</anchorfile>
      <anchor>a88c5d2171c3ace4c62904dc7b6311eb6</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointConstraint.html</anchorfile>
      <anchor>ae61ecd574ccef8a933cad00c84a87404</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteUnaligned &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointConstraint.html</anchorfile>
      <anchor>aa8d220fa0ed65482180787120838cd61</anchor>
      <arglist>(const JointModelBase&lt; JointModelPrismaticUnaligned &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointConstraint.html</anchorfile>
      <anchor>a88c5d2171c3ace4c62904dc7b6311eb6</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointData</name>
    <filename>structTestJointData.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointData.html</anchorfile>
      <anchor>a4426e3dd2c9fc0813cd127ea4032f011</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointData.html</anchorfile>
      <anchor>afa14f24fd0f9cbe9646290d5014c4668</anchor>
      <arglist>(const pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointData.html</anchorfile>
      <anchor>a838678e70ca0abc907ec8be4cbd6226d</anchor>
      <arglist>(const pinocchio::JointModelMimic&lt; JointModel &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointData.html</anchorfile>
      <anchor>a3c6a70e4efb6dd0ae8948aca8f27d96e</anchor>
      <arglist>(JointData &amp;joint_data)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointMethods</name>
    <filename>structTestJointMethods.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMethods.html</anchorfile>
      <anchor>aaef2de65b9799a1c79760320c5a5ecce</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMethods.html</anchorfile>
      <anchor>a4f8a979cd412529b13c0c8b600e215fb</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; pinocchio::JointModelComposite &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMethods.html</anchorfile>
      <anchor>a70aef67ed43dd21fe8bdde23db5e85cd</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; pinocchio::JointModelRevoluteUnaligned &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMethods.html</anchorfile>
      <anchor>a5bbd4778c0d13cc457a943ffca7d7c8c</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; pinocchio::JointModelPrismaticUnaligned &gt; &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointMimic</name>
    <filename>structTestJointMimic.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMimic.html</anchorfile>
      <anchor>a71e483c5cfa886456d245f62fefc8426</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMimic.html</anchorfile>
      <anchor>af7fb9dda5d0c91d8f40abfd4d755b4aa</anchor>
      <arglist>(const JointModelBase&lt; JointModelRevoluteUnaligned &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMimic.html</anchorfile>
      <anchor>af8c7e2d9f4f51a40bc022ac08ad7d8a6</anchor>
      <arglist>(const JointModelBase&lt; JointModelPrismaticUnaligned &gt; &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointModel</name>
    <filename>structTestJointModel.html</filename>
    <templarg>TestDerived</templarg>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>a90e2e5519c5505cca5a78620064bd895</anchor>
      <arglist>(JointType &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TestJointModel&lt; TestJointModelCast &gt;</name>
    <filename>structTestJointModel.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>a90e2e5519c5505cca5a78620064bd895</anchor>
      <arglist>(JointType &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TestJointModel&lt; TestJointModelDisp &gt;</name>
    <filename>structTestJointModel.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>a90e2e5519c5505cca5a78620064bd895</anchor>
      <arglist>(JointType &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TestJointModel&lt; TestJointModelIsEqual &gt;</name>
    <filename>structTestJointModel.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>ad8dfe3159c7dbdd9bdd09ba3670208ef</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModel.html</anchorfile>
      <anchor>a90e2e5519c5505cca5a78620064bd895</anchor>
      <arglist>(JointType &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointModelCast</name>
    <filename>structTestJointModelCast.html</filename>
    <base>TestJointModel&lt; TestJointModelCast &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModelCast.html</anchorfile>
      <anchor>a1bd307a6feb2ab1693476871545a07ce</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointModelDisp</name>
    <filename>structTestJointModelDisp.html</filename>
    <base>TestJointModel&lt; TestJointModelDisp &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModelDisp.html</anchorfile>
      <anchor>a28abbd1776ac9f4b62c89b301345e9f5</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointModelIsEqual</name>
    <filename>structTestJointModelIsEqual.html</filename>
    <base>TestJointModel&lt; TestJointModelIsEqual &gt;</base>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointModelIsEqual.html</anchorfile>
      <anchor>a6f8e767e87ac2686d9ca4ac9dc1fb13c</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;jmodel)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointMotion</name>
    <filename>structTestJointMotion.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMotion.html</anchorfile>
      <anchor>a480cf785a34a8d2ef0941868fc409db5</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMotion.html</anchorfile>
      <anchor>a1710e5be33f904c773bbbacfdb6bd51a</anchor>
      <arglist>(const pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointMotion.html</anchorfile>
      <anchor>a24fd03d433143a553b94696dd2a19393</anchor>
      <arglist>(const pinocchio::JointModelMimic&lt; JointModel &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointMotion.html</anchorfile>
      <anchor>a4ec227f7899e723adb38bd71314dc1fa</anchor>
      <arglist>(Motion &amp;m)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointOperatorEqual</name>
    <filename>structTestJointOperatorEqual.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointOperatorEqual.html</anchorfile>
      <anchor>aa3dd7db5ce39b03d5a56e4a5b80e6167</anchor>
      <arglist>(const JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointOperatorEqual.html</anchorfile>
      <anchor>a44389afeb2bd982aa9a68d85101f6577</anchor>
      <arglist>(const pinocchio::JointModelMimic&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointOperatorEqual.html</anchorfile>
      <anchor>a157fa697d594eed6d9221b6d89187e5c</anchor>
      <arglist>(const JointData &amp;jdata)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_joints::TestJoints</name>
    <filename>classbindings__joints_1_1TestJoints.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_comparison_operators</name>
      <anchorfile>classbindings__joints_1_1TestJoints.html</anchorfile>
      <anchor>aaa3abb534c676687e71f93ff79459b64</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_joint_algorithms::TestJointsAlgo</name>
    <filename>classbindings__joint__algorithms_1_1TestJointsAlgo.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>ae3ec6476609fa0d8568c3c2f61934002</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_basic</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>ad774f15e10cd4fb945b9ad3f6ca30f73</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_derivatives</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>a045ed0335082dd3265a66049602ff84d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_transport</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>a73effa87c7da13359b042a6e0b056543</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>a90eb11e1ec6f7873007f27f454fa587e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>a9811034eb53ec0f1145320aaf04f43cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__joint__algorithms_1_1TestJointsAlgo.html</anchorfile>
      <anchor>a36edfcdd5820effdf713eee8d77cc1c3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestJointTransform</name>
    <filename>structTestJointTransform.html</filename>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointTransform.html</anchorfile>
      <anchor>a52b535de926259529bef292625dc31ee</anchor>
      <arglist>(const pinocchio::JointModelBase&lt; JointModel &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointTransform.html</anchorfile>
      <anchor>ac63d582cddc603148cca68db7d4ceffc</anchor>
      <arglist>(const pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestJointTransform.html</anchorfile>
      <anchor>a4a0714d47b7dc50d25dc8afd1acc4460</anchor>
      <arglist>(const pinocchio::JointModelMimic&lt; JointModel &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestJointTransform.html</anchorfile>
      <anchor>a768df9e857adf7ecce2519355442f9c7</anchor>
      <arglist>(Transform &amp;m)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_kinematic_regressor::TestKinematicRegressorBindings</name>
    <filename>classbindings__kinematic__regressor_1_1TestKinematicRegressorBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_all</name>
      <anchorfile>classbindings__kinematic__regressor_1_1TestKinematicRegressorBindings.html</anchorfile>
      <anchor>a62bcebacd644f9c220cc8baba8a337ce</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_kinematics::TestKinematicsBindings</name>
    <filename>classbindings__kinematics_1_1TestKinematicsBindings.html</filename>
    <base>test_case::PinocchioTestCase</base>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__kinematics_1_1TestKinematicsBindings.html</anchorfile>
      <anchor>adbf7d0ae11fb056d82de129b50adb4b2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_getters</name>
      <anchorfile>classbindings__kinematics_1_1TestKinematicsBindings.html</anchorfile>
      <anchor>a11041a65f4bd448e7ab4788d5fd1e50a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_idx</name>
      <anchorfile>classbindings__kinematics_1_1TestKinematicsBindings.html</anchorfile>
      <anchor>a50378fec08bb2101ba617c73419a99f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__kinematics_1_1TestKinematicsBindings.html</anchorfile>
      <anchor>a1d95b14c4700d4a3a7d797f8b90951b4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_liegroups::TestLiegroupBindings</name>
    <filename>classbindings__liegroups_1_1TestLiegroupBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_basic</name>
      <anchorfile>classbindings__liegroups_1_1TestLiegroupBindings.html</anchorfile>
      <anchor>a7ed0101f8c279ea3dbac8d3df5823fa0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_dDifference</name>
      <anchorfile>classbindings__liegroups_1_1TestLiegroupBindings.html</anchorfile>
      <anchor>a4b0cf10bfcf86383ccd3d1a5386a72d6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_dIntegrate</name>
      <anchorfile>classbindings__liegroups_1_1TestLiegroupBindings.html</anchorfile>
      <anchor>a29ed4845afedad7eefea83cdd9bcd227</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_dIntegrateTransport</name>
      <anchorfile>classbindings__liegroups_1_1TestLiegroupBindings.html</anchorfile>
      <anchor>ab8650a7ac0e915f8afa4fbda6acc01b2</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestLieGroupVariantVisitor</name>
    <filename>structTestLieGroupVariantVisitor.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>LieGroupGeneric::ConfigVector_t</type>
      <name>ConfigVector_t</name>
      <anchorfile>structTestLieGroupVariantVisitor.html</anchorfile>
      <anchor>a550666bf44c351e65b269b368e58804d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGenericTpl&lt; LieGroupCollection &gt;</type>
      <name>LieGroupGeneric</name>
      <anchorfile>structTestLieGroupVariantVisitor.html</anchorfile>
      <anchor>a6c2f6f96cf9ed289e5807156faf5167a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupGeneric::TangentVector_t</type>
      <name>TangentVector_t</name>
      <anchorfile>structTestLieGroupVariantVisitor.html</anchorfile>
      <anchor>a5b71a355b24637acd13537c477c5e2e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator()</name>
      <anchorfile>structTestLieGroupVariantVisitor.html</anchorfile>
      <anchor>a71cb374b1475c905041d86af5f04c0c4</anchor>
      <arglist>(const LieGroupBase&lt; Derived &gt; &amp;lg) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>test</name>
      <anchorfile>structTestLieGroupVariantVisitor.html</anchorfile>
      <anchor>a5da5131543d47d2157d5e86856b914a0</anchor>
      <arglist>(const LieGroupBase&lt; Derived &gt; &amp;lg, const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg_generic)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_model::TestModel</name>
    <filename>classbindings__model_1_1TestModel.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a99fc831d5d4068c3d3b51b2e121be2a8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_add_joint</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a7a1df9ecd72018690534c7aca3f71038</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_empty_model_sizes</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a6a8abb60343bba8fa2d6143c1c5813a3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_gravity</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a11acc8999368016aeb3043f6e5d94db6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_inertias</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a3cfe70ef19d155d70ac1afb8b4a35643</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_model</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>ad4f30458264468af9c50b8ec835f37f8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pickle</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a6e731cd17f1ac41165ec87a83f9ab8a4</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_placements</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a0e2150435007f28ee8ebb63bb550fe4b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_rnea</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>acfa830c5f3813740c53e9f8003b4c005</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_std_map_fields</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>a1891fcaf00e215245a239116273e5b88</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__model_1_1TestModel.html</anchorfile>
      <anchor>aef19f55c2ea761ba09dbecf4cb57e7d1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_motion::TestMotionBindings</name>
    <filename>classbindings__motion_1_1TestMotionBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_conversion</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a9b0240b1d7fcb147811e1ba6e8548e57</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_internal_sums</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a596b89276ec587ffdc4b4dc99e4e6560</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_se3_action</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a223dad5e867eb1be72de225c17f485c0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_angular</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a62ab461c9ae31d213f98790004d9759b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_linear</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a86c5f05798bb9e9c118e149e6b482d87</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_vector</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a0b9188356440e9660d6f971b6af7b479</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setRandom</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a31d98796c5fe3d773e4a4fcb046b1904</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_setZero</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a9d7b8b7d11be13b5d7b8c8c79431bc87</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_several_init</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>a9c2258f7ba375f46ea7daf00704f33cb</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_zero_getters</name>
      <anchorfile>classbindings__motion_1_1TestMotionBindings.html</anchorfile>
      <anchor>ae86fefe70ce1a31d17b0ee2988c5474f</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>TestObj</name>
    <filename>structTestObj.html</filename>
    <member kind="function">
      <type></type>
      <name>TestObj</name>
      <anchorfile>structTestObj.html</anchorfile>
      <anchor>a12701a698b9c04c4d362ddfe88173c05</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TestObj</name>
      <anchorfile>structTestObj.html</anchorfile>
      <anchor>a53725067fa7360c5d1aa4271e21006b4</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TestObj</name>
      <anchorfile>structTestObj.html</anchorfile>
      <anchor>ae89de8c13d15178643a263054a9f708e</anchor>
      <arglist>(const TestObj &amp;clone)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>i</name>
      <anchorfile>structTestObj.html</anchorfile>
      <anchor>a407eab7d2514255aeca01fc32e332c22</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_regressor::TestRegressorBindings</name>
    <filename>classbindings__regressor_1_1TestRegressorBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_bodyRegressor</name>
      <anchorfile>classbindings__regressor_1_1TestRegressorBindings.html</anchorfile>
      <anchor>a8fea35ecf2076b465f3e45639fd4fbc2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_frameBodyRegressor</name>
      <anchorfile>classbindings__regressor_1_1TestRegressorBindings.html</anchorfile>
      <anchor>a52dea87a0619101d8c9fada26e819a10</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_joint_torque_regressor</name>
      <anchorfile>classbindings__regressor_1_1TestRegressorBindings.html</anchorfile>
      <anchor>a29ca6e12c2e7fff0ac9627c6d3a33020</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_jointBodyRegressor</name>
      <anchorfile>classbindings__regressor_1_1TestRegressorBindings.html</anchorfile>
      <anchor>a4918d5f3b4e8d767d038b7c211dce127</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_staticRegressor</name>
      <anchorfile>classbindings__regressor_1_1TestRegressorBindings.html</anchorfile>
      <anchor>a307956775bb852c827e5eee53cbdf0f4</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_rnea::TestRNEA</name>
    <filename>classbindings__rnea_1_1TestRNEA.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>aca23076ca5dc99b00e82fbcf1086fb6e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_coriolis_matrix</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>adbe5d475c2ae2bfe7ccdeecbe6266d70</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_generalized_gravity</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a34fca5d6dc60deabc329e6c1daaaadec</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_nle</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a5ffb4dcf44e7f5270ce1f97091e95696</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_rnea</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a5811b9e43d45b84d6dfd4523b1f916bf</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_static_torque</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a77a9b66d67e5f8b92458fcfb4dff0318</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a561a35e44b2db5f8f5a941eedf2953b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>aab4ad40dc3ddfcb1f16bd99402d009e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fext</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a386e03aafc765f1388b2236a938e197c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a59fcbb7486efc2ec9fce603fb43878e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>a33fabb49c73e20c3fab01d6e00d66cfb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classbindings__rnea_1_1TestRNEA.html</anchorfile>
      <anchor>ad81fad5d4e8cca6799aa9994955f155d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>rpy::TestRPY</name>
    <filename>classrpy_1_1TestRPY.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_computeRpyJacobian</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>a6347414e147ffeefc33865feeaf2df83</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_computeRpyJacobianInverse</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>a3e058ef740ecb6cd6ec1b67a86e9ad3b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_computeRpyJacobianTimeDerivative</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>a0050f622eeebdeb0ab390d3793f1e560</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_matrixToRpy</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>a376bd6a0949960b3ab6ba5956b669ab6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_npToTuple</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>a48d43ec214af15289aad33061318baee</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_rotate</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>aaf810966169afd6ff0c4c08047a683e9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_rpyToMatrix</name>
      <anchorfile>classrpy_1_1TestRPY.html</anchorfile>
      <anchor>a046f2e8f71bc429dff43e5e3b3627ed7</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_sample_models::TestSampleModels</name>
    <filename>classbindings__sample__models_1_1TestSampleModels.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__sample__models_1_1TestSampleModels.html</anchorfile>
      <anchor>aa7ff963e20cf6c86166e2bdc0808a8a6</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_all_sampled_models</name>
      <anchorfile>classbindings__sample__models_1_1TestSampleModels.html</anchorfile>
      <anchor>a6a061c1a06f3f8757d017f98da904f89</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings::TestSE3</name>
    <filename>classbindings_1_1TestSE3.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>a80718c1fcf7d548c82a5f332053dde9e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_cross</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>a1bd6c0eab732530c220f788ad99b4844</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_force</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>a317afcdd4b5d526b3cffc5fa67059350</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_inertia</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>acfdf7bcec3ccaecdd68d70676a9fab3d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_motion</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>ab5b5bac4e7c1d2b0ae9ad167af3fb2f7</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_se3</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>a6810e913974a9439064ae146aeb1dcb8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>m</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>acc293e1525f20495f2eaa4ea5b61a247</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>p</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>ac1c1697232dc7c4b8f329efb8a656644</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>classbindings_1_1TestSE3.html</anchorfile>
      <anchor>ae50428ed48ff6917d4a1413f983a908d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_SE3::TestSE3Bindings</name>
    <filename>classbindings__SE3_1_1TestSE3Bindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_action_matrix</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a81aec765a1d8dbd3b3dd69001cc7841b</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_constructor</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a970412cba79f195571ee55084dd319b8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_conversions</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>aee7d707a5f60b89ccd14055707153ab2</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_get_rotation</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a6fb712107646203b176ad0e8fb697029</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_get_translation</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>aed4d3c08f9fb03ed41e65b99366369a1</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_homogeneous</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a40e83a4339bf04c156349c89a39b88db</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_identity</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a9ba9900fe7ef784ae680ae8846c1dbbf</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_internal_product_vs_action</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>abeb82b251a062c89ef02a0e392394871</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_internal_product_vs_homogeneous</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a7049dbbc7be2ec39f8ca868381c19b5c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_inverse</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>ac9b901eb9ff2a4a9a318f16659b4c77c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_member</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a648299e0468619f4d511fa4e5e85f5b4</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_point_action</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>ab95ec1590a07719182f5e00256ed9038</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_rotation</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a27f30fd56f75e0c0d1fedb91f946aa84</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_set_translation</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a2f0c5ab0971961f05db544751610ccb8</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_several_init</name>
      <anchorfile>classbindings__SE3_1_1TestSE3Bindings.html</anchorfile>
      <anchor>a485993e026ab49fec3dd698b753a2293</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>serialization::TestSerialization</name>
    <filename>classserialization_1_1TestSerialization.html</filename>
    <member kind="function">
      <type>def</type>
      <name>testBIN</name>
      <anchorfile>classserialization_1_1TestSerialization.html</anchorfile>
      <anchor>af5d94b66e38e14efc34a07610a59a783</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>testTXT</name>
      <anchorfile>classserialization_1_1TestSerialization.html</anchorfile>
      <anchor>a6ba2b516a9b7cb74b104046d2dd70666</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>testXML</name>
      <anchorfile>classserialization_1_1TestSerialization.html</anchorfile>
      <anchor>ac214a024a31b603eaa18db81af90674c</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_spatial::TestSpatial</name>
    <filename>classbindings__spatial_1_1TestSpatial.html</filename>
    <base>test_case::PinocchioTestCase</base>
    <member kind="function">
      <type>def</type>
      <name>skewSquare</name>
      <anchorfile>classbindings__spatial_1_1TestSpatial.html</anchorfile>
      <anchor>a7e3444fce5585b21c65bccd7aee9625d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_skew</name>
      <anchorfile>classbindings__spatial_1_1TestSpatial.html</anchorfile>
      <anchor>ae4af3ad74af231f20489432047325f11</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_std_vector::TestStdMap</name>
    <filename>classbindings__std__vector_1_1TestStdMap.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__std__vector_1_1TestStdMap.html</anchorfile>
      <anchor>a91c38b1e56bd8ee8fb38ef015d44297a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pickle</name>
      <anchorfile>classbindings__std__vector_1_1TestStdMap.html</anchorfile>
      <anchor>a0b276834e497502e1478c2eb62c1d2d7</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_std_map::TestStdMap</name>
    <filename>classbindings__std__map_1_1TestStdMap.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__std__map_1_1TestStdMap.html</anchorfile>
      <anchor>a477b570c423dbf8b6329a31eba5db6a5</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_pickle</name>
      <anchorfile>classbindings__std__map_1_1TestStdMap.html</anchorfile>
      <anchor>a38015d238d94df224496f1e2646fc0cf</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>utils::TestUtils</name>
    <filename>classutils_1_1TestUtils.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_isapprox</name>
      <anchorfile>classutils_1_1TestUtils.html</anchorfile>
      <anchor>a997e04750bfd4fbcd43659cd5a1a1b80</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_se3ToXYZQUAT_XYZQUATToSe3</name>
      <anchorfile>classutils_1_1TestUtils.html</anchorfile>
      <anchor>acea96d8b8e7d53a138f92fdf78006786</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>bindings_com_velocity_derivatives::TestVComDerivativesBindings</name>
    <filename>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</filename>
    <member kind="function">
      <type>def</type>
      <name>setUp</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>af13c3a007bfe5e111996449dca12a84a</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>test_numdiff</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>ade99ea3463f5ace7351eb5b9b727a857</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>af4097067efe6fd1cc18f32c75cc5f2ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>a0a8d2f7734baad23ca7665d24bb72963</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rdata</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>abc84ada99e23adbe9067c8919a77d12e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rdata_fd</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>a2e1af59e12b84c8913b344494f9b453e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rmodel</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>a1fab4fbae151b0989400b020fa158e16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vq</name>
      <anchorfile>classbindings__com__velocity__derivatives_1_1TestVComDerivativesBindings.html</anchorfile>
      <anchor>a4bae2c8d71f0cca0bf7674dfff7ddaa7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>version::TestVersion</name>
    <filename>classversion_1_1TestVersion.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_version</name>
      <anchorfile>classversion_1_1TestVersion.html</anchorfile>
      <anchor>a190ea1315340747a040d0423b19a7615</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TiagoDualLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TiagoDualLoader.html</filename>
    <base>example_robot_data::robots_loader::TiagoLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TiagoDualLoader.html</anchorfile>
      <anchor>a46008b728dce111cda84ce0b6f6a3073</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TiagoLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TiagoLoader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TiagoLoader.html</anchorfile>
      <anchor>a48976637708c1e69dbf91a3eaea03240</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TiagoLoader.html</anchorfile>
      <anchor>aa9884df6fb0b6320f699ce2aa490cfcf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::TiagoNoHandLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1TiagoNoHandLoader.html</filename>
    <base>example_robot_data::robots_loader::TiagoLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1TiagoNoHandLoader.html</anchorfile>
      <anchor>ae7c28d4820263d527e7660fc73b9d985</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::traits</name>
    <filename>structpinocchio_1_1internal_1_1traits.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits</name>
    <filename>structpinocchio_1_1traits.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a90d60c3338492a75e1c63b68bc97f0a3a7c9f13f5ce6f6af364d3dd1a9d64ddb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a90d60c3338492a75e1c63b68bc97f0a3a319f0b6b6d765b7862926ae63c14dcf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a90d60c3338492a75e1c63b68bc97f0a3a1cd74c56edad1d7505545edad0de40aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a90d60c3338492a75e1c63b68bc97f0a3a319f0b6b6d765b7862926ae63c14dcf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a90d60c3338492a75e1c63b68bc97f0a3a1cd74c56edad1d7505545edad0de40aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a90d60c3338492a75e1c63b68bc97f0a3a7c9f13f5ce6f6af364d3dd1a9d64ddb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; LieGroup1 &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperation_3_01LieGroup1_00_01LieGroup2_01_4_01_4.html</anchorfile>
      <anchor>a1c3a562ceb443c7bfa0841444de6a8b6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>LieGroupCollectionTpl</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>a19a30e4353b6a612e9d4a8a2b2afd2c3aa398f0a5f7971f0c8887a13b720cc2ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>a19a30e4353b6a612e9d4a8a2b2afd2c3ad2a12b86b250a6901c01a384d957eb71</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>a19a30e4353b6a612e9d4a8a2b2afd2c3a604d8103d484b2b825c3ed80fb6f6c27</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>a19a30e4353b6a612e9d4a8a2b2afd2c3ad2a12b86b250a6901c01a384d957eb71</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>a19a30e4353b6a612e9d4a8a2b2afd2c3a604d8103d484b2b825c3ed80fb6f6c27</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>a19a30e4353b6a612e9d4a8a2b2afd2c3aa398f0a5f7971f0c8887a13b720cc2ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01CartesianProductOperationVariantTpl_3_01__Scalar_00_01__Options_005dc0417633d7ba569083d37264c5e0ea.html</anchorfile>
      <anchor>ab981cda9aa5c8501526f68ae47a2bfba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0b0a2a4cb0acd8c1709114660a2c8336ac2e6eb559853257fe042d8cd9de7ddd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a12931656a4e10b3497f56a4cf823e473abe9b59d7cbe1181dbf69f2ba42591aa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a12931656a4e10b3497f56a4cf823e473a13ea1508d77bd07ae2891866974324e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a12931656a4e10b3497f56a4cf823e473a13ea1508d77bd07ae2891866974324e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6::IdentityReturnType</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9df77c0508db52b4a617f8bf217ebc80</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2fdaf9aabbd413b641032c590b2cbb3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0bae8112b68b66b67ff7681f52920f05</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae3a404642187b8501efd478e1989d4ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a12931656a4e10b3497f56a4cf823e473abe9b59d7cbe1181dbf69f2ba42591aa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa2c69ca939d5c88bc7a1046c75177504</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6::IdentityReturnType</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a634a82d2343fe5ac5ddaa2c83da143de</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0b0a2a4cb0acd8c1709114660a2c8336ac2e6eb559853257fe042d8cd9de7ddd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintIdentityTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2c44ec2c7bd39840356e7bdbb3ece23b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abf1c46f9e187b618eb6a67128e4d18daaf15a0655dd36756dea5962cf06536404</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3b5a3a2c356b783e3d570eae4cd74deca6159d224f342234a428e79b58fbbadc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3b5a3a2c356b783e3d570eae4cd74decaa23a1afba157cb6c6c3521797709652b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3b5a3a2c356b783e3d570eae4cd74decaa23a1afba157cb6c6c3521797709652b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abc3bc9b8b2ac2b66c310e2415b6c4780</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 3, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5d4789923ce188018a142edeeed26d10</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a58b3102b73491e2f1125cac439b2c9d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a755e06b37e82806d3cbe481f9f5f5c36</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3b5a3a2c356b783e3d570eae4cd74deca6159d224f342234a428e79b58fbbadc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7375203d14c9a4ed1dc8f2354ce28825</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abf1c46f9e187b618eb6a67128e4d18daaf15a0655dd36756dea5962cf06536404</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5fcd81cc8f95aa9d156b50c4df70e08b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a7266f85f22d58097e099a00ace27c0b5a60b6856164090ee191f40f2ba29a9d6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae34385dd9280b4244002b052101823ba7c59a1391aa832f035eadbb7456ab5ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae34385dd9280b4244002b052101823ba56da410411a18e2434e8308c0f14949a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae34385dd9280b4244002b052101823ba56da410411a18e2434e8308c0f14949a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9aea4238f579c50787d55a66497af11f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a5e19ce1363593a09aa59617e1ee7459a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 1, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a8149486e751ac9bef0276fe69419288f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a0a9b628c8aadca1df768f9875f733c76</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae34385dd9280b4244002b052101823ba7c59a1391aa832f035eadbb7456ab5ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a765c88754839f1957bc69185bfaafa19</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a7266f85f22d58097e099a00ace27c0b5a60b6856164090ee191f40f2ba29a9d6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae74362adc63e91b5973e2a0d41b5661</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; ConstraintPrismaticUnalignedTpl &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa18a115726c4ac3feb14a1deecfa5e77aabd9f44f943cf7ba1b59dbf62f57974c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac0e66b938e18dc97ce8a42ad8296660dab5d9eb23e8c55533714e2f76ed974dab</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac0e66b938e18dc97ce8a42ad8296660da25d41455ce54fc084f1efa7445b54000</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac0e66b938e18dc97ce8a42ad8296660da25d41455ce54fc084f1efa7445b54000</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7a332f937bd41aee813197239ab9e0ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5f86ba4b758fbd17f7524cc86d6d712a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 1, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1d6908d600c430e03108aa5e52353f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a34c178eb50926f4e856d45762cc332f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac0e66b938e18dc97ce8a42ad8296660dab5d9eb23e8c55533714e2f76ed974dab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8a7cac245186f87c6d75353c2899a036</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa18a115726c4ac3feb14a1deecfa5e77aabd9f44f943cf7ba1b59dbf62f57974c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a47847809d58e70401b203e5ee72f6118</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0a25f09d51ec4c73e66e798efcd193fe</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a4657ad0c0a329c9c03f77de8274a5f18a4b7c658b41a7d991e7f329a26f60cb46</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9cb540606501e2b49611b188888ba558a7b72a7d2644b5bf9678862f68462fded</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9cb540606501e2b49611b188888ba558a0c0c9df27191ff3555beea08d4a71f41</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9cb540606501e2b49611b188888ba558a0c0c9df27191ff3555beea08d4a71f41</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a3bdfa824d0c18539683c72d37c05e79b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a6e89c8e4c6aefc3bb5d7259455bc526f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 1, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aea6a930c7d36af892065322085cea6d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a2141166f6810225aaef2c5d344525b3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9cb540606501e2b49611b188888ba558a7b72a7d2644b5bf9678862f68462fded</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>af4c67124f0f60a6a30f10cc6b78df3c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a4657ad0c0a329c9c03f77de8274a5f18a4b7c658b41a7d991e7f329a26f60cb46</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>af0ce8eb731b9bf8d47c8d9db076ffc4c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; ConstraintRevoluteUnalignedTpl &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a274d1c26940218901490f015aab48fe4acec43427db3a7ae12dae5f04bf6d5413</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae4284656f091ebec125ee057507f0713ac1327fdf29fb14d0a62a4c462e89cc73</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae4284656f091ebec125ee057507f0713a5fb8efe7774f9319d7e71a0ce954988e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae4284656f091ebec125ee057507f0713a5fb8efe7774f9319d7e71a0ce954988e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa2dbef0fbfd0f9049aaffed93e1aae48</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a781217f5b3880e715ecae64e8b9fdfbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 1, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5a93a469cf26f350e7692d74fc238bfb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9ac8eb2d5032b7a5246e335790996fc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae4284656f091ebec125ee057507f0713ac1327fdf29fb14d0a62a4c462e89cc73</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3554ea7788929f53406e2a75926f0fe3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a274d1c26940218901490f015aab48fe4acec43427db3a7ae12dae5f04bf6d5413</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab7f209436542b844814b8097a93485b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8f1fc81165fcd7f70f8fd0668faabbb9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abd1ecb7eeaf724c017cf7c8d7ec0c3e9aefe832335eb5be915e3e66f4bc4f36bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5e449a2e64e98098357872a9c929f44fa8fa1b41ec61d669d7fb5a97b5afa2e63</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5e449a2e64e98098357872a9c929f44fad79be083575a73c63c7c0b8ded1539c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5e449a2e64e98098357872a9c929f44fad79be083575a73c63c7c0b8ded1539c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a35b74b3afebd675e997271a284b3502d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 3, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa06141afd837615c5443098a17a20123</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6cdbdd158b5131982346b0645f06d849</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acf06f5d333f67a974e07ded441ad4a37</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5e449a2e64e98098357872a9c929f44fa8fa1b41ec61d669d7fb5a97b5afa2e63</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a37aa9e84fe0466f021cc353a1e77d842</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abd1ecb7eeaf724c017cf7c8d7ec0c3e9aefe832335eb5be915e3e66f4bc4f36bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1e39cb575775598759f30357a651e7ba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a39d4f4a4ebedf415a4d1ae8bd2fd96f0a88f5ff0674995bd622f8cf90567af7dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae73909b0b5c08f6c19df7fead9ef73fda60bf0c5f458c42464b897402ba8d54a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae73909b0b5c08f6c19df7fead9ef73fda7653a53285681c9c206b63e13031b978</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae73909b0b5c08f6c19df7fead9ef73fda7653a53285681c9c206b63e13031b978</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5ab762e130aac52432b786ecc74f8df6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 3, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4392fdef6c223a2feb4ab9d52b9ed095</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab95b82ece2ab194a0080425955e7c273</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab2157c17f37f68915f354b29bafa2caa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae73909b0b5c08f6c19df7fead9ef73fda60bf0c5f458c42464b897402ba8d54a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a19f89e599eb7fc5cfab0234433e3a61d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a39d4f4a4ebedf415a4d1ae8bd2fd96f0a88f5ff0674995bd622f8cf90567af7dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae879fe5c129fa616a38bee092e80db7e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg>_Dim</templarg>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afa0a1b0087195d2ce57fbaccb7abe87c78</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afafa7b422f8a7f5d9f4e726288cdb60994</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afaf5053b89d644568c3f758d3deb3f225e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Dim</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afade86b28831ba3c5c79aa843d759df3f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afafa7b422f8a7f5d9f4e726288cdb60994</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Dim, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3ff3f6f7608978f74e0026f1f87525eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Dim</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afade86b28831ba3c5c79aa843d759df3f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Dim, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a48ca6be6bf2e568b47ab682a92ab89a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0817cce370fe53c311ab874edb502b3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afa0a1b0087195d2ce57fbaccb7abe87c78</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae206bf4cf7ed8d7d099a3f930cf995afaf5053b89d644568c3f758d3deb3f225e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa68977c6a13268961aeaec077d99afd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a607c5c930f77d54e1d6a9d2a76138eae</anchor>
      <arglist>(DenseBase) ConstMatrixReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTpl_3_01__Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac48ba7c97a75fd7c38f866d8b0b90f20</anchor>
      <arglist>(DenseBase) MatrixReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac1a16c41d36ab93092462c563b3a9609ae898582a0b1ab495c5132a7c81e2f672</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a707f0bb7bbf9cac39e88ba470155efcea792a0cdfa327c6b56095a84e75e57099</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a707f0bb7bbf9cac39e88ba470155efcea91887a49ac0a8d2e1f91f13ef2759f77</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a707f0bb7bbf9cac39e88ba470155efcea91887a49ac0a8d2e1f91f13ef2759f77</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const DenseBase</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a613e8ad98af49a3384bc672ef0e3fa2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 3, Options &gt;</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4b35bc8fa82f3d0b7164791a3be8b971</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9f31585a76233a7570ce135098abc08f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0bc5b73ed1cafe26e5750fdd8e950fd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a707f0bb7bbf9cac39e88ba470155efcea792a0cdfa327c6b56095a84e75e57099</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DenseBase</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a90201acadb9799e8460f9cbd9ad6db22</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac1a16c41d36ab93092462c563b3a9609ae898582a0b1ab495c5132a7c81e2f672</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ConstraintTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a01cf84985406e022017d382f1256c725</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; Derived &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; ForceRef &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a81f2f65734185f0e3d0004bcc5cf8d33ae5febb60d682d9689b6c542611abe6ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a81f2f65734185f0e3d0004bcc5cf8d33aab26c1039dc109732dff34e75a281db0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a81f2f65734185f0e3d0004bcc5cf8d33a8b49fbc8d9978852ab4d740395203e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad0014e7416968f28e872a06f0e8c6c30</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a81f2f65734185f0e3d0004bcc5cf8d33aab26c1039dc109732dff34e75a281db0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstAngularType</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a0d44c8ac9cb2cf7a481858489a322fbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a52ebfbbec321d987b27ca8ba8d2285d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a358d6ce2430d98711c34c59ebf5f683d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstDataRefType</type>
      <name>DataRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a1b97b8569ba596df21e31cb75e35aafb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>ForcePlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ae43f9834f6032dfa8289e6397e67f144</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceRef&lt; const Vector6ArgType &gt;</type>
      <name>ForceRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a68babf3d3126936c2d6829c0024a81b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a81f2f65734185f0e3d0004bcc5cf8d33ae5febb60d682d9689b6c542611abe6ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstLinearType</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a69d10f1b541133eedc244a615f8054e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a7da89cef09af3aa25898b6509937f1d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a81f2f65734185f0e3d0004bcc5cf8d33a8b49fbc8d9978852ab4d740395203e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForcePlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aa48a15cfff5829f97607df8636530411</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a21113065807cf4b7f1f18da04c0b2428</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstDataRefType</type>
      <name>ToVectorConstReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a7ad89cf3b469e44c9a400d2c6fff86a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataRefType</type>
      <name>ToVectorReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a4945bc7fb098b0912155c089d1190293</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ae95bae5ea3acf14a2c848d636538745c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ab1c07b12ca1c6ba52ff87f4b8b1c61f4</anchor>
      <arglist>(Vector6ArgType) Vector6</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>adcd79e7a4824587a563515cd12564dd9</anchor>
      <arglist>(Vector6ArgType) ConstDataRefType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>add361b09015cade8f970dd5b1c46d221a3cc681dbecf9411a103a23abcb762274</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>add361b09015cade8f970dd5b1c46d221a141d28e16b31f295159cf247a749d467</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>add361b09015cade8f970dd5b1c46d221acf251f53310a0f1b0b12dcca3ae067eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a74ef829075a3de9f49ce781722a5c213</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>add361b09015cade8f970dd5b1c46d221a141d28e16b31f295159cf247a749d467</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aab5bb8c76a1f65c3c8cffe2137b7a1fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aa22570dfbb597900bbdfa9f0a55b20e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a01d96eeb44168634fc9d196b01486d80</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>ForcePlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a4fefff1ecb952a21734ec02b4c3f277a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceRef&lt; Vector6ArgType &gt;</type>
      <name>ForceRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a80d716e4d24de12b8e6bb5f48ede2e96</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a8d5c988b95cc013ae01d5649283f3a98</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>add361b09015cade8f970dd5b1c46d221a3cc681dbecf9411a103a23abcb762274</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>adc58c775c8fa49efc76bed81911dab5d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>af9e6cb69c46b57f94eeb1a8feebfc2ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a88870126eeccb8b43732470091ecdb6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>add361b09015cade8f970dd5b1c46d221acf251f53310a0f1b0b12dcca3ae067eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a12f582f57618373daef9f5a4cc6821c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstDataRefType</type>
      <name>ToVectorConstReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aa0c4e42255874ae7375f01882d26b51a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataRefType</type>
      <name>ToVectorReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a317973837761562e73b86a13e9133853</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a18bb4bf835ad69645829c1e30d003d54</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>addc3e22d801fbac5c4fbdcb5b725f1c5</anchor>
      <arglist>(Vector6ArgType) Vector6</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a252178a5b2186db67e6443abae6b8da7</anchor>
      <arglist>(Vector6ArgType) ConstDataRefType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a947624d5a3419ccbb099b49d1df6e801</anchor>
      <arglist>(Vector6ArgType) DataRefType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e5e62e878bdb56423687a0d2a75a1f3afbd84a62d845bdc70f6d02fd2b0d5a5d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e5e62e878bdb56423687a0d2a75a1f3a79b17bba8f65b8ebc969d82b4e1e62f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e5e62e878bdb56423687a0d2a75a1f3a9fa55a2dbddb4202b462964e9e20d496</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e5e62e878bdb56423687a0d2a75a1f3a79b17bba8f65b8ebc969d82b4e1e62f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a528b7ba953961be39c9e2d3ed85f0382</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5e2196de92b7a921a3dddf227e56c5e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acf4150e7d69558b1785c3e92132555d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; Scalar, _Options &gt;</type>
      <name>ForcePlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8cba8a75dfaa74b594f1730824f62147</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceRef&lt; Vector6 &gt;</type>
      <name>ForceRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9a5d2c750f0e2d532360a38060193da9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e5e62e878bdb56423687a0d2a75a1f3afbd84a62d845bdc70f6d02fd2b0d5a5d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae406ae63fd84562d0305f855a4806426</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, _Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa7899e1ae41fad55b8a170b47ecc18ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e5e62e878bdb56423687a0d2a75a1f3a9fa55a2dbddb4202b462964e9e20d496</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aff694453967eb834d8470d0e0f75f027</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, _Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a87e0d00b1d75030ba71e8f4fe1a5b2aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, _Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1cce05f33a5389d12a17d813597c764d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a007dec82a8916816be6fa9b50322fd1a</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01ForceTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae697903daf362c2d89e6bbc8a416bee6</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::internal::traits&lt; if_then_else_impl&lt; LhsType, RhsType, return_type, return_type &gt; &gt;</name>
    <filename>structpinocchio_1_1internal_1_1traits_3_01if__then__else__impl_3_01LhsType_00_01RhsType_00_01retbe8734dd672bb7b7a4914ce5fc444613.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="typedef">
      <type>return_type</type>
      <name>ReturnType</name>
      <anchorfile>structpinocchio_1_1internal_1_1traits_3_01if__then__else__impl_3_01LhsType_00_01RhsType_00_01retbe8734dd672bb7b7a4914ce5fc444613.html</anchorfile>
      <anchor>a8260e66dea9403e5e3bd773cffa56bb5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; InertiaTpl&lt; T, U &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>U</templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a52bf100c6097952368f1455de68d0ce6a4fe6b881a21c49e2513129d1d5c70612</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a52bf100c6097952368f1455de68d0ce6a797b4407080b04048fd8b3b9d409b2d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrix_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a9226dbbcde5d89b6d5d4d1da5574d920</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a52bf100c6097952368f1455de68d0ce6a797b4407080b04048fd8b3b9d409b2d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>Angular_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a11fc669e840fcdffecbf6831cb10ef67</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngular_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a2f141299858d2ffc069cd66135cef0d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinear_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a7a41846b518c777d6b3e2031a3ef95a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; T, U &gt;</type>
      <name>Force</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a5e4ab3c407977f4da31e29abad2ae3f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a52bf100c6097952368f1455de68d0ce6a4fe6b881a21c49e2513129d1d5c70612</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>Linear_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>aaf0de43a62e9a29a9d972ade4f71ce8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; T, 3, 3, U &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a43e4da3cbaa2ae6983d6d7876a8c1adb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; T, 4, 4, U &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>af3e8458565bdadc123db152a5e5082d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; T, 6, 6, U &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a6758ca8dd8d6a173435eadbf89dd0de6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; T, U &gt;</type>
      <name>Motion</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a67d4d943ba4d9875d69061cd9e432e0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaternion&lt; T, U &gt;</type>
      <name>Quaternion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a5dd12b2d7634d30f352815f3337f98a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>T</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>acaf70784be31fa92bb76229a8819c4ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; T, U &gt;</type>
      <name>SE3</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>af6668380c2eee0664f28f33c110a8303</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Symmetric3Tpl&lt; T, U &gt;</type>
      <name>Symmetric3</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a6e6b79fe17120a3f130c568724ad9078</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; T, 3, 1, U &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a75b53ac58049c99103716348ef42ebb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; T, 4, 1, U &gt;</type>
      <name>Vector4</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a568e0a3c556a5c0860e20379343a0edd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; T, 6, 1, U &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01InertiaTpl_3_01T_00_01U_01_4_01_4.html</anchorfile>
      <anchor>a6e21b803d1a6c8f20ac199835849fa6f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5109299e2edf1046510287cdaef17261aa7d5041c9d5958c50733dfd2554385d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5109299e2edf1046510287cdaef17261a1bfdf169b99e3aa0a204ecbd8fe2ecf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5109299e2edf1046510287cdaef17261a9a79efc26b805157a90ac092c3d2ead5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a3089666647acf59cbdbdf4dfd538caad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; Eigen::Dynamic, Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a9150fb2d4f66b5ea54cb4ff8ea27c2b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a3cb8c9565386fdaead86f1bae858d3d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a07df3356f29f42f89f25d729bf642ee9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aa2a28b67bfc0d5e41828b64af8f89958</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ae293d5679c71a7a23d71f9fc78a2780b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a774ce936a566b8a927f140d8be44bdf4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5109299e2edf1046510287cdaef17261a1bfdf169b99e3aa0a204ecbd8fe2ecf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5109299e2edf1046510287cdaef17261a9a79efc26b805157a90ac092c3d2ead5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5109299e2edf1046510287cdaef17261aa7d5041c9d5958c50733dfd2554385d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a816c499cdb448f9904c9d250810d242f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a9eae8d2e35c5bc08a3a66cb11764c1d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a3bf146fb72df596a60ae3647a0573deb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a3bed7b95f670560b62c8445ead977bd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a6154cbd893eba0541c85be468c80ea35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointCompositeTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ae5cba4fe09ffac2a2a1ed98acdf2cbfb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ae58e5d313e5f1a51532afd1c934087ab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointFreeFlyerTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a299a846f6a3c283b809aa2863de6c156</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataMimic&lt; Joint &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataMimic_3_01Joint_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointMimic&lt; typename traits&lt; Joint &gt;::JointDerived &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>abfcb48ab0976799864a11ef970ee5220</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataMimic&lt; JointData &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a5090c68a3b8d84f47fba0a2e06f72396</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa8026ee7d76aaececdd65e0284489286</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>afeca237d7b02206ce6b7e2056ec28ff0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>abd4cabaa4f051d705648742c53c0dad4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a78d625c58a9f98cbfc4b8247dff78263</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a5a1d3956ceaeb831ee698557b114204d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a2437e226632145e2f6b0249b505b1b4f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>abdadeb04af175e5b56231d72ab0cb7d9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a3b3b1ab6eac306ef1530c323035188be</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataTest&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataTest_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataTest_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aa865a30ad0379632396dafafaab267e1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aa8731387d9a30d0b3844e5bd7d972005</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointDataTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointDataTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointDataTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a954e8efde0f1b77fb36dd7780a49da8e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a74ff7719c01894db7f32f4148a479f09a729f5ee30d04ff79b2d9641f1caab14a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a74ff7719c01894db7f32f4148a479f09a190b65f503708e95cef93dc98c10463a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7147596a7a05ab7c3d19d33e8da38c04a1919b4045562b9a7693fdf2aae353ebb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3b43a53ef8d81ab026518626a5c7bd9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintIdentityTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9396c7ba4ba3c162848f0d73e29ca73a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac93d1a16435a83c924e03257a3eb35e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataFreeFlyerTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6171161345c5f0d0998c3b416cc593b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelFreeFlyerTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a716e2f6719006f03f88b3bf9f16e404f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3952ac7a696b65907a8c2b4f7c2d06dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a74ff7719c01894db7f32f4148a479f09a729f5ee30d04ff79b2d9641f1caab14a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a74ff7719c01894db7f32f4148a479f09a190b65f503708e95cef93dc98c10463a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7147596a7a05ab7c3d19d33e8da38c04a1919b4045562b9a7693fdf2aae353ebb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aed342f0122756dddb80ae76bb9554f12</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a009167fce425f58b3348011abdd0755e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a82880c71b9732524763efddec4ded742</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1722c0f5db39bc695f6cf9dbca436e19</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aabe77009e9c78a4c8d7b0bfdda2dd272</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointFreeFlyerTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9f32a31e9e7a10bcdfc795ea52537be2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointMimic&lt; Joint &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a163816865fed7153d3e3a417118de53dad70c799cad265c1b82764381330f207b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a163816865fed7153d3e3a417118de53dacd1d4c315c5ea1157d92dae17f0acab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a5ba709c310c595da102c364ce62875ecac133412a946be970ed268e7b2b12244b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::Bias_t</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a99788b9a543632980b39db60dfd66520</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ScaledConstraint&lt; typename traits&lt; Joint &gt;::Constraint_t &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>ae4fdfc784208392d4bef273dce504e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::D_t</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>aae1c4053058e5fdaa75f86a3dbbf5fe6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::JointDataDerived</type>
      <name>JointDataBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>aab165750237b3fa1763f0e9c561a7851</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataMimic&lt; JointDataBase &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a164ddac2078252c7c3d02904280eb61f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::JointModelDerived</type>
      <name>JointModelBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a3a62db47a5ec3e8eca87a52a5674d969</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelMimic&lt; JointModelBase &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>aa39924b5b6619eaf10d404c94d372203</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::Motion_t</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>aa907a475f3e6ba291443f5b7d8eb5269</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a163816865fed7153d3e3a417118de53dad70c799cad265c1b82764381330f207b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a163816865fed7153d3e3a417118de53dacd1d4c315c5ea1157d92dae17f0acab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a5ba709c310c595da102c364ce62875ecac133412a946be970ed268e7b2b12244b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a8ba68b3dc64f1d33b3f99381bc383150</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::TangentVector_t</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a28529ffd2afd45fc514118ce5c9817de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::Transformation_t</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>abb86c344ed9ffa67af9b373fa0f4fe81</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::U_t</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>acc09b133a54087f5c819b7fc17d6c6fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Joint &gt;::UD_t</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>aae4a36e760b0d149957ddf19837b36b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef traits&lt; Joint &gt;::ConfigVector_t</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>ad91216ba7795216e4b9597b6a9e7505d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelCompositeTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a27f43f362c8261f7eea7235174414e6a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointFreeFlyerTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelFreeFlyerTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a0323b505b96cd71071849f0026ec0fa4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelMimic&lt; Joint &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelMimic_3_01Joint_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>JointMimic&lt; typename traits&lt; Joint &gt;::JointDerived &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelMimic_3_01Joint_01_4_01_4.html</anchorfile>
      <anchor>a6ad293453d6870696bf5af810388b1dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelMimic&lt; JointModel &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelPlanarTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>acba56bd9531b397ca9a2f4b69cb6f7b2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelPrismaticTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a304fd21182a80742d6e7cfc1e3c110e2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelPrismaticUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a475b7fedebc1e3058f3ae9d6e8037277</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelRevoluteTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a872779dd65760ae088d60672f998d1a6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelRevoluteUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>ad71647bcd51232139a8a30534ebabc4d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>axis</templarg>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelRevoluteUnboundedTpl_3_01Scalar_00_01Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a1ebec7cc91df90e81ca02b22053cf024</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelRevoluteUnboundedUnalignedTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>af62489777eb9060e5d6133d0be707f38</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelSphericalTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a4a7699ddcc3f6922a6d412f8ea3fbcd1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelSphericalZYXTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>abf59499c31a17b9afe36601137368240</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelTest&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelTest_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelTest_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a0d74d4b98faf96b121eab1fb1ea0fca0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelTpl&lt; double, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="typedef">
      <type>JointTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelTpl_3_01Scalar_00_01Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a5ac4ac3bba9bf4ebf46d7cd98e5f9e34</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; JointModelTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointModelTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="typedef">
      <type>JointTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointModelTranslationTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>aa44b78850fd71061c0cd0aea08ba8c99</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e20947ae119bb763ec250d908bfc144af9547da389463d966653b0f7f940bcc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e20947ae119bb763ec250d908bfc144a56469634603b8f2a361359624bc6c838</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab72e1cfb7e0368958e8a7b116d90b47aa1f84dda4e1e991205f1f28d23d8b9ebf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a70691baf30e2489dd6ead29e84ce2f64</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a42df2f33d3f45256fe18e19bda9d54f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a852fbf0110a557f09ee2c918e373a355</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aca1cd427efa9d245d18debfc0ade9a7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a41f904747d64d3da5f49be8db2b216ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlanarTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acdf68b0fc5ad9346c193451b9776c784</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e20947ae119bb763ec250d908bfc144af9547da389463d966653b0f7f940bcc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8e20947ae119bb763ec250d908bfc144a56469634603b8f2a361359624bc6c838</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab72e1cfb7e0368958e8a7b116d90b47aa1f84dda4e1e991205f1f28d23d8b9ebf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a37d58461cfe8630b27095d75f2b6c658</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a22def05f6b940cf277b91035de1c80e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1b6097bf054ed240a2916f52af8559eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a380d7faa127685f97d371b5b2ffcba29</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad03532a43794e5e36d8d4ebd08489d72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac641a515e446cc2da96301f6853ba132</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa97cc76a27a7a9797ed1e3fbab028734acc8d76988d43db4b4548e5e322186e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa97cc76a27a7a9797ed1e3fbab028734a1dfcbdb62593bb25522b980556286067</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ac4fe44162f9fda7819b4e3eb37a5824eac39d230cb99bc115447903e8a33697a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a65d2f25c5be9556653114a2ccf3a6b4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ab52143ba85deb301ee297ee2ffc56815</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ae958f214645ade8bbf26e3fec1a92baf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a6a8c316eabb51d940948e3f1c33fbb5d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a94156b23c7f9b71880f803d71d81e152</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a4e48206a8e1852816990e9b34d481085</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa97cc76a27a7a9797ed1e3fbab028734acc8d76988d43db4b4548e5e322186e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa97cc76a27a7a9797ed1e3fbab028734a1dfcbdb62593bb25522b980556286067</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ac4fe44162f9fda7819b4e3eb37a5824eac39d230cb99bc115447903e8a33697a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a190a65c5ce7279a472e94c42af492825</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a63f5077ec38044d02806f54a61bc5834</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>TransformPrismaticTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ade24aa76f6aed05101d3a8d8108048d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9b2ee6b3b2a709afcedf33cda06ee866</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a05ba38525d09035fbd8ec883d276e3e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>af1de37f44b20172e3944dd8366bd7c5d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac315d0c46c377567922bc3f3b061c826a363ea6d8cc8aded05f99dbaa845d3f17</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac315d0c46c377567922bc3f3b061c826a16e2579822635efab084e89bace5f42d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acddde6a7f023bf259f020ab07ce37abcabe4034ff32f8719e8cc0b4c53b9201e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5e8cff93152969ad6e4c3428583d6195</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af33e1e6e773849ae46800cae5dedaf87</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad9d58ebd4fcde21f2ac6628a2ba3140a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a63fb543ceede1be8c69afb3c60955c46</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a45d0f5041c233594f4ba12c4c1965904</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8da08e1539091e8547e272e2f746ea70</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac315d0c46c377567922bc3f3b061c826a363ea6d8cc8aded05f99dbaa845d3f17</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac315d0c46c377567922bc3f3b061c826a16e2579822635efab084e89bace5f42d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acddde6a7f023bf259f020ab07ce37abcabe4034ff32f8719e8cc0b4c53b9201e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad3caf302659c60ef356a070134ffbddb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abb6daacfcede687cab60ce34369dab2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>TransformTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acf66cd07cd9324ef6e1a9485c51df3c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aab91fbbdbc4b2106119d58dce9d6ebb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a81ce67c6a76c9b52d63551bd7696f952</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a95f599b5da77aa533586fb69f40d9ca0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a98c65106f6c12d22324502f0e48bc3d2a0019180a5596faff0741dcad3713f85e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a98c65106f6c12d22324502f0e48bc3d2a8c4b3f97e392084f4603350548c5a2c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ab34e45367b6b8b465df436496c31d748af9634605c27f581ceb828e32a8e76826</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a2924ebb5089f5f0c2d539af0537c2c84</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a25b0f517e9760c7829b485e16a9903a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a214d1b17ead760258cc2e8e7139280b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a1368087a9539df530b9eb9b2b11dba84</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a7fdebd4bf464dd215882242af7444130</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a66b19f86e1a242d5b2d65bb30dc4e56b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a98c65106f6c12d22324502f0e48bc3d2a0019180a5596faff0741dcad3713f85e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a98c65106f6c12d22324502f0e48bc3d2a8c4b3f97e392084f4603350548c5a2c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ab34e45367b6b8b465df436496c31d748af9634605c27f581ceb828e32a8e76826</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ae634bf23bdfea77000ece4e0434792e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a55f9c93eea9fa4647388ae8806153879</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>TransformRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>afc481b97d40ee63f3d2d551697f7143c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ab9df98e9deafa706bfbee59b5d4b9fce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a64fe698713cfe5ae2efde332792e0e6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a80ae9cc0a012740540f134a675cd326a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aaf8eaee4e15746117569878c706a52c5a60ead6f5292b80ae9193098aaf36eab4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aaf8eaee4e15746117569878c706a52c5af0aa531abffb070c2e7f257dc649c3c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a83bf18606854ca601621d8d7e7cb2d1ea2449791494c676f0df8ddd52b2156153</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac20e4755e45478c94990f99b3ba70abc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad5301524bde4e5b806a8b2f07fba9800</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae9a1e3916d0e01fb1481c375fc120b39</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aeefe55261b800cf5391513789e5f2765</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac43770f63db96c184f9b4fa431c4e202</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afa337da6fa10883ce252f12f96beb58a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aaf8eaee4e15746117569878c706a52c5a60ead6f5292b80ae9193098aaf36eab4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aaf8eaee4e15746117569878c706a52c5af0aa531abffb070c2e7f257dc649c3c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a83bf18606854ca601621d8d7e7cb2d1ea2449791494c676f0df8ddd52b2156153</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1fbce64b7510a921096b9ac6d77258c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afac55ed4f50e682075786e39209ca026</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1fe6cba14fd34f8a9a73ac296418cde6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a074fb8aa489691068b66d2accb00452b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afdc4f9bbd3f1b04df3186223d2152282</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a64f279868bc97dbd0dc54bd581509fb1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa6465bdc3e9821b50138072cfe20ffe2a445784afdff0534e1433def795dd8b4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa6465bdc3e9821b50138072cfe20ffe2a47f8fe885f568a4917c9e7d77e429e87</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a0ca7216c870014d77492724f0ce944d6a6c96fe8f983a4ef2ddb3138efbbfb7e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a3b1bc574ac9c023d75b82d7af94c09f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a3a396346bec23511f491f3eabe2ef234</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aacecb065949b59f59f7d24a5641ca477</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a3ba13a71cce856bb6eccf65530b795f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a38e38c742e09812d39060643f5727fc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a40fbae3911e6a315689684510f7bf107</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa6465bdc3e9821b50138072cfe20ffe2a445784afdff0534e1433def795dd8b4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aa6465bdc3e9821b50138072cfe20ffe2a47f8fe885f568a4917c9e7d77e429e87</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a0ca7216c870014d77492724f0ce944d6a6c96fe8f983a4ef2ddb3138efbbfb7e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a778d37917a68376468c4ee43487c0a09</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a9d4a03701cd0f2b1cf10bf53dc26d779</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>TransformRevoluteTpl&lt; Scalar, Options, axis &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aeabced5e9687db35ba6def01e02c778a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>abf7b0504ff2c017bcf506b34a13e11a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>af28a9eb7bedd84fc1e5b1a0a5b42d1bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ab807e9c504b7cdd9eedd170b5ec9ee47</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a090d20160a0fdfd968308d5dc3f3dd45a68aad5dddaa4ef05d4b9aceeac42a152</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a090d20160a0fdfd968308d5dc3f3dd45ad152e8dc3535210b5ea5a149a03b95b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5bc1525a5c1ab70cc3954ced6cbae550a4c8d2bd889030fa21e7bb24771aa2ef4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6d691b8b2763064ad86b19753be86d07</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ace82abd799e72128dcf403c6e732b850</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a27e7e12e6df1b7d224e8f3ec77f0792b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8f3b526290aa638dcfdd675daa7b87c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>F_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8edb6b8ee6187d6085762f5b29351757</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a32b0ef70acffe7ad6be461f6eb560e3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab899ad9f0affbf5bc9636d20989d65b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3dad42ae8b56766aad5f3208afa61a6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a090d20160a0fdfd968308d5dc3f3dd45a68aad5dddaa4ef05d4b9aceeac42a152</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a090d20160a0fdfd968308d5dc3f3dd45ad152e8dc3535210b5ea5a149a03b95b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5bc1525a5c1ab70cc3954ced6cbae550a4c8d2bd889030fa21e7bb24771aa2ef4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab523c4c4ada0bf9004550c007b84fac8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af7ed51e95e46cf24dc9e55dbf31b1d96</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac3def672ea4c3ca231226691a8f29524</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6259dd5f3a662fa489e218cef12596f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointRevoluteUnboundedUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4e0d5a819479eb93dfaece45dbad72b3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2b3413204d54b0db249ab02773b82d17af6a9fba0877b43b66b2e9ff38688446a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2b3413204d54b0db249ab02773b82d17a9a569ce6f82c4c6086b168b30414a411</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9bf3113901ec96a91445d60131347692aa282d595e4468ab031c7b6324eb4975f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f531157ca2b3e0fc659c43be74ba4e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa4c6d8e2153f00d23c87f5f16af198a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1c9af57c16470d33c79f9840af4ee3c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8aa0bc7c8827fd8f518c19d596839d52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6c7d5f826baa4f7dbbaa6a6070da9659</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a86b73f5bcf35ed12dafb7a9caafca939</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2b3413204d54b0db249ab02773b82d17af6a9fba0877b43b66b2e9ff38688446a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2b3413204d54b0db249ab02773b82d17a9a569ce6f82c4c6086b168b30414a411</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9bf3113901ec96a91445d60131347692aa282d595e4468ab031c7b6324eb4975f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa53413f95ab087e96bbe53b5f2dbc7a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ada5de0624499f7993150d193db54fc73</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acf5353c4aa2d41316bf73cf9e957e51b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aae5cdf905f9295ae75d7dbe9075cfc89</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ace9ff9c56165ea35c4f266672865cec2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a235cd5e1e5a480a217f9a6bc54a05d19</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0be28da7ede41587d7d3cc55e6463c96a1469ab19cb9ab0e7b8d1214aa429043f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0be28da7ede41587d7d3cc55e6463c96a3a80b9b76e970a019b7dde8647bb57a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3ca5beef56573113b9cfa2239742af3ca9d20b0c0115f15243aadb41041f2801b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6369b4cf13d64ca1bc2e25894250cd01</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a55627250d3d6899319c426f8c8d5f434</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4c4cf5e25eba91db410de3c6eded8dd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3dc8a9253a89e4d65bd1ea0d67a9443e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalZYXTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a819d18d704cefc926cad8ba126f069af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae36be4ce67a8653e4b72a7196059c4e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0be28da7ede41587d7d3cc55e6463c96a1469ab19cb9ab0e7b8d1214aa429043f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0be28da7ede41587d7d3cc55e6463c96a3a80b9b76e970a019b7dde8647bb57a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3ca5beef56573113b9cfa2239742af3ca9d20b0c0115f15243aadb41041f2801b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acde0cbe2a67e9be2a89b4b8f0955097c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1c6bacdaad037661d32ab925c5489ff9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afd0ae25a3e0512dab7886251bf8e114e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a78a00f2b5497f2acef8a228051ae246d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a771d7e4b14241dfde60a020ca4d9b23a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointSphericalZYXTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f993c453e09f24609b045d1116bde67</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7490f0d41b3963c9a7432592f45c4a18aa617acd60fc887349bd3da1a74d39931</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7490f0d41b3963c9a7432592f45c4a18a109af633ce0644f5019053c7db5f71e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7490f0d41b3963c9a7432592f45c4a18a045c6c5039ce5723e45ca898c73c5576</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ac94c35456764c44c058defb9c8ded3ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>abfed12c1bd8b975842331ee35d00fbc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; Eigen::Dynamic, Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7f17497133fdab200190ca4e36d93623</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>acb0c514038c9873d1f04faca28815628</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a8dfe34d073b086d7e78d42f0234466c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a23c07f1635fdcdb4a98924c527d453d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ac324a7b882b18d9906abb3390ae4efa0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7490f0d41b3963c9a7432592f45c4a18a109af633ce0644f5019053c7db5f71e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7490f0d41b3963c9a7432592f45c4a18a045c6c5039ce5723e45ca898c73c5576</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7490f0d41b3963c9a7432592f45c4a18aa617acd60fc887349bd3da1a74d39931</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a26e618292bbde2fd9d5aaf57b4bed545</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a3928d7533c946c39b50c5799084ca527</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a9379c43056a229ee9e0a8f0dd4155aea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a1429f874e4ee1361b453e7eb2e5c3bd8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTest_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ab1989e87a4049a4e1a3685653055b554</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>JointCollectionTpl</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afba5cd081922197f05faee2d1b2af982a426c135436a35e804b5c159070dcd537</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afba5cd081922197f05faee2d1b2af982a8fa7b1f012cd06f32234930acfab29dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afba5cd081922197f05faee2d1b2af982a7cce9d275b19bf254a9f56c088872f7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a30ea4ad7af2941b5e158386788084c79</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Bias_t</type>
      <name>BiasTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afd3068ffe7d91a39cd2d5299256e3c25</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Bias_t</type>
      <name>BiasTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7ec7d5d3bf54f755a9560f9ac198b2c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a6441d09e9ac1b1fe90fc1bd0e953d75f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; Eigen::Dynamic, Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a633a1bf6940b6b13dad72bede2a8b1bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint_t</type>
      <name>ConstraintTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aa778429c4b7ed6b902eabfb564987ba4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Constraint_t</type>
      <name>ConstraintTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a56d45b82bc4b17b1e99cea3c7f181e57</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ad2e3917c4234a9bea12b08f75358fb94</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>D_t</type>
      <name>DTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a72c5831aebc819bc723fe0bc142e0ac7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>D_t</type>
      <name>DTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a8490a32554a8d7e835f7dcc9bb834d25</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionTpl&lt; Scalar, Options &gt;</type>
      <name>JointCollection</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a8077903fbf4594384e1f0ca557ebb3ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>af04043a627030d1dea35958da24d1095</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ae8e2e6d5e4c62a8b3ba16cdfea867399</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ab50719f103b74f4647ce89ef78929c9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Motion_t</type>
      <name>MotionTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a37c5380717918c347a46f2d897fdd618</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Motion_t</type>
      <name>MotionTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aaf7e9bce2396f6e4c50761a9a37a334f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afba5cd081922197f05faee2d1b2af982a8fa7b1f012cd06f32234930acfab29dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afba5cd081922197f05faee2d1b2af982a7cce9d275b19bf254a9f56c088872f7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>afba5cd081922197f05faee2d1b2af982a426c135436a35e804b5c159070dcd537</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>af20ff6fe36587df2a6054f88e68b8097</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ac324df898827caaaa41e23083283de4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Transformation_t</type>
      <name>TansformTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a7f38edf078ee608f86255f363b4c284f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Transformation_t</type>
      <name>TansformTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>ae426ec1010d1ed719eb4442d50ad54b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>adc0bcfa0784297866964b8d5023ae022</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a497dae07409020de7f151add2f5a505b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a715de3ce6154155d36ea2ebaa60449c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>UD_t</type>
      <name>UDTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a787e29744f4c41e1f495f0e266bc677e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>UD_t</type>
      <name>UDTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aee18f7c377d8697f549c4f5771b9163e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>U_t</type>
      <name>UTypeConstRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>aae39b0b79f598efbbd18031e1c8a4aeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>U_t</type>
      <name>UTypeRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTpl_3_01__Scalar_00_01__Options_00_01JointCollectionTpl_01_4_01_4.html</anchorfile>
      <anchor>a85ff1874259c329e55be97a6eb2a67c0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; JointTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a586a9919576c04b31a1253911650b139aea8cc9314c6c25886ab704e22f71d7b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a586a9919576c04b31a1253911650b139af2ccfa06929f77d079521c1ddc24621b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae68eb6aeaec42b1667c37bd719bd8fe2a8f41cda6daba833114a374374c85bbbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; Scalar, Options &gt;</type>
      <name>Bias_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4870f043f8cf9ca9f5c7fad31f23f68b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>Constraint_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac43bbe4aad810dba12708c0ca07013b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, NV, Options &gt;</type>
      <name>D_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5f3e377c7e9768684d71c81cdabeb910</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointDataDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3b4ab2256b08e454e00c136bfcd23805</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>JointModelDerived</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acfe853e7c22e556d4bfb8f158cee4d44</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>Motion_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acbc261506bf6e104aa79b553b4c68e2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a586a9919576c04b31a1253911650b139aea8cc9314c6c25886ab704e22f71d7b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a586a9919576c04b31a1253911650b139af2ccfa06929f77d079521c1ddc24621b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae68eb6aeaec42b1667c37bd719bd8fe2a8f41cda6daba833114a374374c85bbbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1c92ac53abe1c8816dabfe55a6ef6faa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, NV, 1, Options &gt;</type>
      <name>TangentVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2127816cc165a17ce9113b111e8e9830</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>TransformTranslationTpl&lt; Scalar, Options &gt;</type>
      <name>Transformation_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a269011f68582483ee74564844de3c6dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>U_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae0c248ddd6b0c88a61fda093e05af6cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, NV, Options &gt;</type>
      <name>UD_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab67adbd6cacdbdf6975650d82804ee4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix&lt; Scalar, NQ, 1, Options &gt;</type>
      <name>ConfigVector_t</name>
      <anchorfile>structpinocchio_1_1traits_3_01JointTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a421f4d4903000e8dbfb0c5286b20737d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; LieGroupGenericTpl&lt; LieGroupCollection &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2c6e67fb675ee58c498e56288510032fab29062efcd4a8da3fd3f3529f6d5d51e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2c6e67fb675ee58c498e56288510032fa4dcebcd01d811d4e90217aa986fdef79</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2c6e67fb675ee58c498e56288510032fa762e184e61a16aaabcfac35afc136e13</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2c6e67fb675ee58c498e56288510032fa4dcebcd01d811d4e90217aa986fdef79</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2c6e67fb675ee58c498e56288510032fa762e184e61a16aaabcfac35afc136e13</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2c6e67fb675ee58c498e56288510032fab29062efcd4a8da3fd3f3529f6d5d51e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollection::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01LieGroupGenericTpl_3_01LieGroupCollection_01_4_01_4.html</anchorfile>
      <anchor>a2f628a379c59cd402684198dd357b163</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6030cb92713a56807db7ee7a31b0bdb8a5d05c9f27d2c253dd9e340283289ce68</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6fa2585012d5ca926538889d1a78a426ac20c02f967eddc04c3eda97380fe1e6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6fa2585012d5ca926538889d1a78a426af8bdc63d7023ee764504568a04537fd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a360aad616ee31f8d15e674f09236dace</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6fa2585012d5ca926538889d1a78a426af8bdc63d7023ee764504568a04537fd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa384f49199261a36c9239c832ffe2625</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acc7c03740c24e5c7b492006a706e1d0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab864bbc10e21ca1d908c9a695b3e8ab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae4718e3b828883f91cd7a5e2b7f50b4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6fa2585012d5ca926538889d1a78a426ac20c02f967eddc04c3eda97380fe1e6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a81266fc1b87800cfaa8cb302a0e09747</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae8b34bdd992a64c0c529ac9d488a71fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0209a34b0dc3e49740a6b70237440454</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa605f0182bf1c3fb03c75340f9db1e0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6030cb92713a56807db7ee7a31b0bdb8a5d05c9f27d2c253dd9e340283289ce68</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acb764f30e20b76755579dd0e1890bacc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2dfe9dd81aaddd6d6199bc0b370a104a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a98f654ee2284cfde3e04a4738487162a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a04966ae6c9420cb73fcedd476489c963</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6646b0669d3a98c4fab16fc9903b829c</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPlanarTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2ab749f6b918db7d8f62c4eccd270846</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a47f3991af6735d335abc5f5a0728a080a0c835eb36373218cbeb52ae961f7242c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac5acbf8a363945e824e811ce2a4a350eaba92889d7ad1484511d7480a37f76d3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac5acbf8a363945e824e811ce2a4a350ea4a3d7a21db8da66f6c780aa3b7cc1623</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>adfc91c679ffc03e8670d0fec5ef20d46</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac5acbf8a363945e824e811ce2a4a350ea4a3d7a21db8da66f6c780aa3b7cc1623</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aefaae35c4b4e3ea6d366eb7383a427ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a13bdc6667150c8a69653da3a5efa5b80</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aa249400c82cf7523ed16078b28b50350</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a275a37c324597e926660ee7bfbdae78d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac5acbf8a363945e824e811ce2a4a350eaba92889d7ad1484511d7480a37f76d3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a7069b122626a61fb7a9af29a59fb46cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a07fb7955a7552e478353c2fa6889fe1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ad38c6531d686b6e48477cfa1880c3975</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a9f232c1e00a4ad21c59465dfa2492e91</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a47f3991af6735d335abc5f5a0728a080a0c835eb36373218cbeb52ae961f7242c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ad7cbfc6015ecc922b3b212dc82f98ed9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a42f8b35db7c7029617dc88c86228bcd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a6ddf0f28931e467460dc99c38883ed8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0b0d512545860e97ea1e9ba40d39f8c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>af285573b76ec8307ac26063835f152e5</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac8e5bd72bbe149e6fa5cddf349b6c6f1</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0baf7090fc43b4f555a9a6dde2e6359fada61d740ac73dca432ec3780315ace6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2a28607780533cf9ffe737e9a99b1cc8ac890585d52745f5401fded1e74af54c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2a28607780533cf9ffe737e9a99b1cc8a729507d0c9eb39a246cde19fb09480de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3e95d785c69d760ac204f2bb11653c1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2a28607780533cf9ffe737e9a99b1cc8a729507d0c9eb39a246cde19fb09480de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae2b61f47f18e2a2cd167615d38ec46ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3ae5041e14834d11b26a2bf62eefa716</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1a2913685932be3e411f3938605906a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8c0acf67a89ee67b2f863be96aff25f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2a28607780533cf9ffe737e9a99b1cc8ac890585d52745f5401fded1e74af54c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7fd1359f4f84fff77090627cce718907</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0966b3d3742f8654483b6c4637a1d976</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af0a2a50d4dab6d15027341e2ec244b46</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a01e3b29cabba22554645c9e17f0ee531</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0baf7090fc43b4f555a9a6dde2e6359fada61d740ac73dca432ec3780315ace6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4d44d9c1fe499333fb7e0e28d947712a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1997b7bd5df110b0097e2c1f49615437</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a00b54359da83422c8ec755fc43610c47</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ada3191b73acc1607012e206143d3d197</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6d622de67885022b386ab1e9aaf26f30</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionPrismaticUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa8206402a510e6d2879d905ff2206dd4</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; MotionRef &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a387734f16cebeb0260c802d21c1a4a50a1aecb27caac7a16cebf6fb29daab4292</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a387734f16cebeb0260c802d21c1a4a50a5d3528a8d348d2a7c99368ed174c56a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a387734f16cebeb0260c802d21c1a4a50a94f798437fe16c54eeb679ac1cbf5a4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a424c73fe307a541bd036da652304ca37</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a387734f16cebeb0260c802d21c1a4a50a5d3528a8d348d2a7c99368ed174c56a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstAngularType</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ae1670a3950a616c1be10d1f59d06e9bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a2ca34db19bf4b23bb25ca3913e3cf686</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a263d185ca2db46ac0c905f19ce307319</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstDataRefType</type>
      <name>DataRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a648f554e27b30a9753c23934ca4c7ddb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a324c845bd366dfdc2d7cd06930811250</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a387734f16cebeb0260c802d21c1a4a50a1aecb27caac7a16cebf6fb29daab4292</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstLinearType</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a17f9fe1eaaf7e061d1a048b165fb1568</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a4f055dd9dab7e437a850c5b49acaa35a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ae540f5978788fa2b8962555fdc73c2ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a6c7c1d825e873026d0c6ed863920655f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRef&lt; const Vector6ArgType &gt;</type>
      <name>MotionRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a9480aed65753d5da8c0998f0dfc12094</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a387734f16cebeb0260c802d21c1a4a50a94f798437fe16c54eeb679ac1cbf5a4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a3ed602a70c1d72f5c1a6c703abf4bb3f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>af41244c04655ac5673b05ef98a8babae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstDataRefType</type>
      <name>ToVectorConstReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aa06b12787e9812dad17e0d38bd95ba56</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataRefType</type>
      <name>ToVectorReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aa895f0bb35d44013b2cddef0a7d49c32</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>aee623e2e1ba6a1595e583489468efe05</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a9fb161097ee15face3a60625999be38f</anchor>
      <arglist>(Vector6ArgType) Vector6</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01const_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a5d3914d8ebcbe31047f0645a8fc1036c</anchor>
      <arglist>(Vector6ArgType) ConstDataRefType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad39a26b3f3dc25cbe34d8b0aaef335eaa505b03da7e868e3c9e81f88559ed605b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad39a26b3f3dc25cbe34d8b0aaef335eaa26446255d97a90a9a8d12ef3ec2b5d60</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad39a26b3f3dc25cbe34d8b0aaef335eaaf3bcda9a70f01850865e7941631eef2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a0f9412ceb34374f48d877b9db5d40f13</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad39a26b3f3dc25cbe34d8b0aaef335eaa26446255d97a90a9a8d12ef3ec2b5d60</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a48268b580f5dc0398c2a444ba6984b9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a8bb6c789046a58a5404d0f12ac0ae498</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a5bedbdfcdf230daf6b9e032642a9195b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a00bbd24a996bafc82833946bfaca3b05</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad39a26b3f3dc25cbe34d8b0aaef335eaa505b03da7e868e3c9e81f88559ed605b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>af9ded57e9931bb4ffd3dc68e44a18da4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a171a954359ab6ec42cdb331630f974ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a23e211e3b20a04f56c9f82b0bfa47f2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a667edf0f49dc2cdece5d3f95c71d6463</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRef&lt; Vector6ArgType &gt;</type>
      <name>MotionRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>abdaa510531766538edd39aeb882b9db2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>ad39a26b3f3dc25cbe34d8b0aaef335eaaf3bcda9a70f01850865e7941631eef2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a250f536fd8b7ff68c95a6f8c26d66db3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6ArgType::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a80e4bd4dc9ec9c3fb9c7eed4a46a66e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstDataRefType</type>
      <name>ToVectorConstReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a18249d765091a51df7a8993fa4a0629f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataRefType</type>
      <name>ToVectorReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>af8006bf90493ed21edefb80b04c655d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>abbc91bf961e785dd8e6b885c7eca5a31</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>abdf2eed20ba1a90876b6dbe526425058</anchor>
      <arglist>(Vector6ArgType) Vector6</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>af8ec41c16c615b6d6812198c6f6c2036</anchor>
      <arglist>(Vector6ArgType) ConstDataRefType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRef_3_01Vector6ArgType_01_4_01_4.html</anchorfile>
      <anchor>a5fdb7b1c1a8289fc1d0aebc2ef0e955d</anchor>
      <arglist>(Vector6ArgType) DataRefType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a21e8e7dbed69dc9696442968759b6554a9339deeddb59bd98e6fac2523f6ddd18</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae7e28e96b1107bcb5329d8a0548e840ab8b894e39579540ce7349209397502af</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae7e28e96b1107bcb5329d8a0548e840a5e1de51740d5740e85f23166963c4b48</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>acb5e1faf4af1ccb1ec8030afebb7da0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae7e28e96b1107bcb5329d8a0548e840a5e1de51740d5740e85f23166963c4b48</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a6797e5c218e0e2dd02ec5fa4a850976c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a1dafdf844659cde612d6a7ad6e8cfd4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ade3a028fdef6f697a265fab8636a4ef5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a5c9a9de20d2b0d783845cb1cc2531278</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>aae7e28e96b1107bcb5329d8a0548e840ab8b894e39579540ce7349209397502af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ae6c82d9e8e84e6eef84bfafbfc153e63</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a0daee48504ebb4076e9b0b7b249b5925</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a7aa4e1438f5b6e8c532bd898d9dba9ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a30a0ae83723741c0399238a138a3e593</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a21e8e7dbed69dc9696442968759b6554a9339deeddb59bd98e6fac2523f6ddd18</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a7e74f0f26f255d9f89c36f627426fad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a2b663dc8091c4a5fa66c85b1b9b87dbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a42741d1ee2dabebc18566643cf918016</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a40f2ff0b0768f409244523f855a6da13</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>a919502f5ecdf323cbae74d5d3716e10e</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteTpl_3_01__Scalar_00_01__Options_00_01axis_01_4_01_4.html</anchorfile>
      <anchor>ae373a70ffd059332a7070f9176a19ba9</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5b52dece9c9faca1703fa89093edd8d0a46cdc1074970c19c07474a27cbefd2ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aae64e8826ec7bd63cab1e036f46059aaa0cb1d71ba0c8ba5fcd7edc78c8c5caf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aae64e8826ec7bd63cab1e036f46059aaa1db854365a91225ae017e93c4b72e7fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afe82cb85d3100c6aae83f2ad725b8daf</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aae64e8826ec7bd63cab1e036f46059aaa1db854365a91225ae017e93c4b72e7fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a888ca9e212f76b50c838c87ebe5c0eb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af5fe3a0d752fca56b18c82d6187faa0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>abc65e7a096731d8eca03bbcc50fb4c8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5607e1d6d9a4f3c411163f946d4ef230</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aae64e8826ec7bd63cab1e036f46059aaa0cb1d71ba0c8ba5fcd7edc78c8c5caf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4b17718082fb6fb67a650a59dde6711a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a209aa18293a14502892ab348b6d54a14</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a71963c56c744ad5a0de750b0eaeec47e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>add60193f535d8780da806d3042e9b879</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5b52dece9c9faca1703fa89093edd8d0a46cdc1074970c19c07474a27cbefd2ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a07537cf73c20c4e88bb706dbfbfb426a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af8a4f8c559045c07590e4b935a617833</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac595fddac377291ecb003a93c9100c69</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6241be11f97b4bbbd6d0ee42f4aca298</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a18002b03b517064a5bab3ce435ec56fb</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionRevoluteUnalignedTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aed2d79c48d70108ed8796f75c89e6b97</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa991aabbc127ee38643bf805208ac9e4ae9585328555b610e15ab1ecca51e3995</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a30b0f4f125bf9c2ec4097666255e23b1a3d4ac626a1f41579e13af288e9fb5e9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a30b0f4f125bf9c2ec4097666255e23b1a522684301fb6c7ae74124ae10684d165</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af1436f953efb42d63231f51f795a9685</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a30b0f4f125bf9c2ec4097666255e23b1a522684301fb6c7ae74124ae10684d165</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af89e9ec4aae9195e8594ae542a2dd014</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0e642df232d31d72e54edfc656ba7be1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4be4d4192883170d3981d4f766709de6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1655fab069f40822e84492f06cab5184</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a30b0f4f125bf9c2ec4097666255e23b1a3d4ac626a1f41579e13af288e9fb5e9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3cecd47d1705ab86df4948f14cbc1fc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aefef9dffd319eede02f47cb3e0fb00c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a97089f2cda073df5da79505673275469</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a32e825540ef27dc49201dfa9563eb63d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa991aabbc127ee38643bf805208ac9e4ae9585328555b610e15ab1ecca51e3995</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a45a6f1104a25b254bc6376832a4d92dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab06bb44d1cff187a8510bb022ca4eb02</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acee63b4f1280d0a799d96f56176e3dea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0675061b69ef79c3061b939b9cb4bc7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a70bb6aa0264af4c817f4e2338331e209</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionSphericalTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3be812da11e9a72011c158b74f0c9d00</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5820239632d60e027980c63551340bca029dfecab18fe753a1235725ebea1208</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5820239632d60e027980c63551340bcad52813769a765f607d503814231e3cbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5820239632d60e027980c63551340bca3225206f660b80d875fb6971ab67858e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a19408d80f6191bbcfdaac10754c9ec12</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5820239632d60e027980c63551340bcad52813769a765f607d503814231e3cbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8cd1db81667351968e5bb7f90c52a15f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a88b24b82b3653c3ea8e2899b3a26bb27</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template ConstFixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a544243720cdf7adc97a7e2ce346aa80b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab90971f7730dd234a161cf3bba73f132</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5820239632d60e027980c63551340bca029dfecab18fe753a1235725ebea1208</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector6::template FixedSegmentReturnType&lt; 3 &gt;::Type</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a86e43bc51074c259585b2a34d2378f73</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, _Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7e2ea2077a590d965f6f4b7fe09f8f65</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, _Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad921b7dca22b11cc72aecadf23781b59</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, _Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a622f1cf3aac61a2baf1234e60db514dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRef&lt; Vector6 &gt;</type>
      <name>MotionRefType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8843e6149ef1ae2cf1706083dd6d72b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5820239632d60e027980c63551340bca3225206f660b80d875fb6971ab67858e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const MotionPlain &amp;</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a64780f7ea92747e3914382b8cda1b57f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f4e317ebcb269782c033ed58cc2a752</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, _Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acff158d056f334c07ab367e64f206ca8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, _Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7b547b41aed1ca60be7609f3e8cdb52f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aeb554f0dc5b4871ec52a9da71d9c87b6</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aa7b82701ed248c9f3f817bd04d225198</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a49231c09e003f15c601bff6f32418797aff8e935fd48ee18d3b7e74cc1c2d1135</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a21710474e3abfba3dbe65cb8a69409b6a62d1f634c1cf4353aa3a8364d02442a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a21710474e3abfba3dbe65cb8a69409b6a75f835bef85867d2906537a1018680ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2dbe2712e2e2b94feef088846dd37e62</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a21710474e3abfba3dbe65cb8a69409b6a75f835bef85867d2906537a1018680ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a48d0ff7ef75bd2768959ed534cdcb4e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afb2e5a2a82d7e0cd6b9964d0c76a02c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a35b9bae1ed6632863359ffc7f165fb38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae981d40fe47404cc036192a72664d1e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a21710474e3abfba3dbe65cb8a69409b6a62d1f634c1cf4353aa3a8364d02442a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a01f8dc42adb427c1f88f42a6a6e18253</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aed320cb0bc0f57d78141135b7610cbd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afd4d0420d6fcc15edb9624d14cf83f07</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0890f6cfd99b84f0255f93bef239f45d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a49231c09e003f15c601bff6f32418797aff8e935fd48ee18d3b7e74cc1c2d1135</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a193f514f428548b201db90d602211cf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a62a1a114fe993fcf73fff0823e6081e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad9be107e3ac97f0fffc1433720ced242</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ae9e07e548344272de08d8093894da3f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a079245287a675ab51d36c5516bd44513</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af4082b8fb4b2ae24def27b128ed952e5</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; MotionZeroTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adae6b4429a02d3092ef306900040c319ab9dd42bb3d8c49cef345e96b03c30f7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adae6b4429a02d3092ef306900040c319a3b7be1e6a5a52854a2acbf6bd3c2236d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adae6b4429a02d3092ef306900040c319ab1c0f5d0cc0cdc353c1d3bdc36bb4133</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ad6e902678c8a5c4a97220770129c86a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adae6b4429a02d3092ef306900040c319ab1c0f5d0cc0cdc353c1d3bdc36bb4133</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a41f2ed369e0a16005412e2c43d734219</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstAngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af7f0d4c6847c890c7fbbc63a0c862bd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee8a920be381604c4399c70679a7e544</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a39010696b4989d5843cec165b144c12d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adae6b4429a02d3092ef306900040c319a3b7be1e6a5a52854a2acbf6bd3c2236d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3268e9936a1410a295ec2d2fc61d0995</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1e959e8adbdfb5731899e5a154758e2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8ae9e0d4751482e4c8516987cc958afd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a3a28019cf6793dc4510d01e531640824</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Motion</type>
      <name>MotionPlain</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a42cf13b8393c88c2faab8af92158d3d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adae6b4429a02d3092ef306900040c319ab9dd42bb3d8c49cef345e96b03c30f7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlain</type>
      <name>PlainReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>adc0e6d6dfb11e71ce08b521dcf9dbbb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac92d9f7bf19ad05724909dcf44e56c06</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4255f695a68e18851cbee1df6288f76d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afcd354223e140f28058d950217b628a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab7bd770e28ca9e20ecc5a4050718ea40</anchor>
      <arglist>(Vector6) ToVectorConstReturnType</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01MotionZeroTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6f71ad0c4e4cf46715a5fe31e2470d04</anchor>
      <arglist>(Vector6) ToVectorReturnType</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>traits&lt; pinocchio::JointDataCompositeTpl &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; pinocchio::JointDataMimic &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; pinocchio::JointModelCompositeTpl &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; pinocchio::JointModelMimic &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="class">
    <name>traits&lt; pinocchio::JointTpl &gt;</name>
    <filename>structpinocchio_1_1traits.html</filename>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; ScaledConstraint&lt; Constraint &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>a47b881a7f1b8f5cde8dae7aef0ad9683ac7ca24b1c1bc9ac3dffd7581087319d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ad8978213bc42b9372f79bf7341e94817aec19a4e759fdd957446e88398784f712</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ad8978213bc42b9372f79bf7341e94817a6ab8a7adb82d77584068a0487c175663</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ad8978213bc42b9372f79bf7341e94817a6ab8a7adb82d77584068a0487c175663</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Constraint &gt;::ConstMatrixReturnType</type>
      <name>ConstMatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>a1da100b7fd7ec7538c73c9c76bc9dcbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Constraint &gt;::DenseBase</type>
      <name>DenseBase</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ab636cf9a40d76ce4da156186304ec60b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Constraint &gt;::JointForce</type>
      <name>JointForce</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ab6e71751ae3f0fe64dcf00fffc22159f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Constraint &gt;::JointMotion</type>
      <name>JointMotion</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ab8f0572d7f7aef3612472ac6f4d4c0fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ad8978213bc42b9372f79bf7341e94817aec19a4e759fdd957446e88398784f712</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Constraint &gt;::MatrixReturnType</type>
      <name>MatrixReturnType</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>ac8d6e1648f784a4f2bf5d4cfb5d4a545</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>a47b881a7f1b8f5cde8dae7aef0ad9683ac7ca24b1c1bc9ac3dffd7581087319d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; Constraint &gt;::Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01ScaledConstraint_3_01Constraint_01_4_01_4.html</anchorfile>
      <anchor>a0fa67510f1c7eb6c0ef4463c1a1f1a79</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee01447633ff1b055d77a98cdfd5e08eabcb4452168d704439ff22cd738977d74</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee01447633ff1b055d77a98cdfd5e08ea3363f0b9363174a31d1fcd4bd543cc86</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee01447633ff1b055d77a98cdfd5e08eaf82b30db8cc6dae50cc8596cb8f97778</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix6</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a49e9a5051c59871e8f8d13abf8aa50e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee01447633ff1b055d77a98cdfd5e08eaf82b30db8cc6dae50cc8596cb8f97778</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7e56d3d295ff95bcc54da1d012d9ff25</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix4</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a015cd34a9d75c3f587cdfc6a56eaab9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee01447633ff1b055d77a98cdfd5e08ea3363f0b9363174a31d1fcd4bd543cc86</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac07a198852e2fa19125091b6f32000ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a96c205a3e6c034c0440f13de79a6e50b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 4, Options &gt;</type>
      <name>Matrix4</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a5c2394c377b3de532e4cbd5bf35f60da</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 6, Options &gt;</type>
      <name>Matrix6</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acd0a34907f1eb6bbf50d9781cebe317e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aee01447633ff1b055d77a98cdfd5e08eabcb4452168d704439ff22cd738977d74</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>PlainType</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2e27ca8c25b902c27e4e7a21b3e00d54</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a87380ac3f307a921472485e3a4ffd760</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>afc9b2f65e736a9f9af159740623df01c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 4, 1, Options &gt;</type>
      <name>Vector4</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af771c82b7ed267f9b4e337e2a9121c42</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1, Options &gt;</type>
      <name>Vector6</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acaf2943e058ae650c835e47c378fff4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a8f883ce0da0524dbae1cd21bf588bd27</anchor>
      <arglist>(Matrix3) ConstAngularRef</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a823abc43bd2ce75040033415cdb5093c</anchor>
      <arglist>(Vector3) ConstLinearRef</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>acb44813b9bceaa52b385549c87ebc41c</anchor>
      <arglist>(Matrix3) AngularRef</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_EIGEN_REF_TYPE</name>
      <anchorfile>structpinocchio_1_1traits_3_01SE3Tpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a26842556584fbc7bc3652f8a4b8a562f</anchor>
      <arglist>(Vector3) LinearRef</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2eb62cffed7d53e5ad30eab7fdbd9695a8b94364b3b33e54fdc7b6da28130be86</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2eb62cffed7d53e5ad30eab7fdbd9695ac458130ed59d04d88e2c554c9966662a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2eb62cffed7d53e5ad30eab7fdbd9695adad1f50156b068e2ee1c6e11ff9ac599</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2eb62cffed7d53e5ad30eab7fdbd9695ac458130ed59d04d88e2c554c9966662a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2eb62cffed7d53e5ad30eab7fdbd9695adad1f50156b068e2ee1c6e11ff9ac599</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2eb62cffed7d53e5ad30eab7fdbd9695a8b94364b3b33e54fdc7b6da28130be86</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0e0aaba6624b39a244240b118d42b916</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f1e0e14dcfd35182f8e4368b9007c9baf5e912a2f2a59997f5063228f67a4ec5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f1e0e14dcfd35182f8e4368b9007c9bab77245bf1df29597a0fc037ddd4c1f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f1e0e14dcfd35182f8e4368b9007c9ba119a465db6b04bd4187ae9d217091cf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f1e0e14dcfd35182f8e4368b9007c9bab77245bf1df29597a0fc037ddd4c1f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f1e0e14dcfd35182f8e4368b9007c9ba119a465db6b04bd4187ae9d217091cf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a7f1e0e14dcfd35182f8e4368b9007c9baf5e912a2f2a59997f5063228f67a4ec5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a4a2087b6e553eb6a46d810270a620a36</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; Dim, Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SpecialEuclideanOperationTpl_3_01Dim_00_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aafd0e8143133754ed21f6edba4bb090aaf1ec17b3b984878544b4a1e0aaaaab1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aafd0e8143133754ed21f6edba4bb090aa761455c42c875b462878505de29835cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aafd0e8143133754ed21f6edba4bb090aa9dc080e064c64dd7bf39f3c26e851a80</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aafd0e8143133754ed21f6edba4bb090aa761455c42c875b462878505de29835cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aafd0e8143133754ed21f6edba4bb090aa9dc080e064c64dd7bf39f3c26e851a80</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aafd0e8143133754ed21f6edba4bb090aaf1ec17b3b984878544b4a1e0aaaaab1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_012_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9983afd6d64f0729d36389da3827cd27</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af11163560f4ad788879ea95826176013a85090db8c6ebbc1cf60449a9ce46bf1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af11163560f4ad788879ea95826176013a4fcc1a1894f3420bb171a538c4fdc48a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af11163560f4ad788879ea95826176013aa499dcaa1f5a00acafafb3f7a5d8100c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af11163560f4ad788879ea95826176013a4fcc1a1894f3420bb171a538c4fdc48a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af11163560f4ad788879ea95826176013aa499dcaa1f5a00acafafb3f7a5d8100c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>af11163560f4ad788879ea95826176013a85090db8c6ebbc1cf60449a9ce46bf1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_013_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ab10c4dbe26d50fb9167d8e85e8c66ae0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; Dim, Scalar, Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01SpecialOrthogonalOperationTpl_3_01Dim_00_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>Options</templarg>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; TransformPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5a47980ccf67a624ed369de6059750643a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5aeb7aaf697dc0338a560bc2d18d4a9c95</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5a41fafcb6069560fe2816777358496939</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5a7d9ca9e98f8526e48ffa89998b593fab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; PlainType &gt;::ActionMatrixType</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>adc07b8370e192ff5482a28255d03c9de</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5a7d9ca9e98f8526e48ffa89998b593fab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>AngularType</type>
      <name>AngularRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a146719594e0759f2811e2f82382b94ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix3::IdentityReturnType</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a86c62503d0b6aa124b5111ca90a0fcc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5a47980ccf67a624ed369de6059750643a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>AngularType</type>
      <name>ConstAngularRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0b7a0e11f3cb19045d8bff5a4b6faac3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>ConstLinearRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a17c05ba1a02d6848acd3309f6afe339e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; PlainType &gt;::HomogeneousMatrixType</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a9a0ac4840d5c8b2647f45436b7c7cbde</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5a41fafcb6069560fe2816777358496939</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3</type>
      <name>LinearRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aff0233407017dd0a11c2d176f07f12e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aef5bd33827a72d92ddc7e1eb85e2d14c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>adaf60377a6d92884beef2624b06ed4df</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ac62577cc2145f5093bdbcf3fa17c0ca5aeb7aaf697dc0338a560bc2d18d4a9c95</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>PlainType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a4f6080ca32d118f35016e3be18758ab4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a8dde0ac88bb1067ceb7c6f57973ac444</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformPrismaticTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a82b76b9c15d806c8d25cd73560d177ca</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; TransformRevoluteTpl&lt; _Scalar, _Options, _axis &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <templarg>_axis</templarg>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaa2ebde21b171bc64508774a4f0fd74331</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaad46ba028e2497c67e3ca33a7a9cd2567</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaac7bc1ec7499d35e884adf7b8ba19a5f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaa1fe4c3093a9a74366edc163acf34c8d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; PlainType &gt;::ActionMatrixType</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aba47f360ffed2e10eff15f816173d393</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaa1fe4c3093a9a74366edc163acf34c8d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix3</type>
      <name>AngularRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a684bf5477d6d1df3cea30041bb93bd20</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix3</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a7b22743a5d720943f01201b3a6cbbb77</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>axis</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaa2ebde21b171bc64508774a4f0fd74331</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix3</type>
      <name>ConstAngularRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ace64c884df5fba6204f475f2073b30b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Vector3::ConstantReturnType</type>
      <name>ConstLinearRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a602cd53e987b28ba33f0123544f7db1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; PlainType &gt;::HomogeneousMatrixType</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a42bce654e65500c2ca11ff70eeb05387</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaac7bc1ec7499d35e884adf7b8ba19a5f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3::ConstantReturnType</type>
      <name>LinearRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a8a9ccc7e25536720b97230fa8465f901</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3::ConstantReturnType</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ade20f7fea94a141c3fd8a16d74a2f39b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a330a79257d7cf3d07e5b0f2cb991c4fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>a0148e743810024e57d2027fe71e5b7aaad46ba028e2497c67e3ca33a7a9cd2567</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>PlainType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aa950b3c76f677ef88a633bfdd0885411</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>ab1eedbeab9faef6493ca952aafa6ed0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformRevoluteTpl_3_01__Scalar_00_01__Options_00_01__axis_01_4_01_4.html</anchorfile>
      <anchor>aa08a2dbb159154820a461c0f0d481206</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9814582247b91098b858db6dd6379a62a3ac13e99730a35ec9a14a8a3b7328665</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9814582247b91098b858db6dd6379a62a38382d69d842120f979ceb0a12d5d7a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9814582247b91098b858db6dd6379a62a35820f5f0a10eb6ff682eca083130635</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; PlainType &gt;::ActionMatrixType</type>
      <name>ActionMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a1783ddd09938ba85d9e183251f0306e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ANGULAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9814582247b91098b858db6dd6379a62a35820f5f0a10eb6ff682eca083130635</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>AngularType</type>
      <name>AngularRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6371717aab6e804c03f37cd490acbd76</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix3::IdentityReturnType</type>
      <name>AngularType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>aea4065f22ac38c5c5a56fc60c32cf76f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>AngularType</type>
      <name>ConstAngularRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a6e9b9c4e4671c93675c898260426ab2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const LinearType &amp;</type>
      <name>ConstLinearRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0554496d537c031cb0f22019794106cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>traits&lt; PlainType &gt;::HomogeneousMatrixType</type>
      <name>HomogeneousMatrixType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a93af4d5ad694a598edfac4f255791fd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LINEAR</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9814582247b91098b858db6dd6379a62a38382d69d842120f979ceb0a12d5d7a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LinearType &amp;</type>
      <name>LinearRef</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a641f01eb764d89cd74c8ca03ccce84b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Vector3</type>
      <name>LinearType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>ac5fddbd98f7c368d3b23d540177f2535</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 3, Options &gt;</type>
      <name>Matrix3</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a0b68e8a225be0c1690b08b1e12a916d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a9814582247b91098b858db6dd6379a62a3ac13e99730a35ec9a14a8a3b7328665</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>PlainType</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2e9423593a2512a492fba8bbee63de38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a43b3a905ce8bf927d1860e9c693c8ff9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1, Options &gt;</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1traits_3_01TransformTranslationTpl_3_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a28611b9d7978d9f5c5292961cde3c108</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::traits&lt; VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &gt;</name>
    <filename>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</filename>
    <templarg>Dim</templarg>
    <templarg></templarg>
    <templarg>_Options</templarg>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a966256dc74c591b38c6597b6d053fd21a83f10b899571e3baea63990330c4a311</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a966256dc74c591b38c6597b6d053fd21ae156489aa60243368ed7f62760d34bf3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a966256dc74c591b38c6597b6d053fd21ae22e7719d07d3aa1a6022f1de6d31c8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NQ</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a966256dc74c591b38c6597b6d053fd21ae156489aa60243368ed7f62760d34bf3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NV</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a966256dc74c591b38c6597b6d053fd21ae22e7719d07d3aa1a6022f1de6d31c8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Options</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a966256dc74c591b38c6597b6d053fd21a83f10b899571e3baea63990330c4a311</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>_Scalar</type>
      <name>Scalar</name>
      <anchorfile>structpinocchio_1_1traits_3_01VectorSpaceOperationTpl_3_01Dim_00_01__Scalar_00_01__Options_01_4_01_4.html</anchorfile>
      <anchor>a2b8e0e814c56d755ce51ec7d0212f239</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TransformPrismaticTpl</name>
    <filename>structpinocchio_1_1TransformPrismaticTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>SE3Base&lt; TransformPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="typedef">
      <type>SpatialAxis&lt; axis+LINEAR &gt;</type>
      <name>Axis</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>af5dd6d190665dc0b51d6c4d54a370052</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Axis::CartesianAxis3</type>
      <name>CartesianAxis3</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a8a573dc1c460a884302a9b215a1c47a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>displacement</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>ac291b70370bf0cdf689a80ccf6ffe334</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>displacement</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>adda4551e4226da53298ca5419fddccf3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a984ecb8528a9fdf5de4f8ec3f6564d49</anchor>
      <arglist>(const TransformPrismaticTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainType</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a10b3d6d081d214ee194b8b64e1c84cc5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a4a9a718c97dede038c8d1c11deb9f507</anchor>
      <arglist>(TransformPrismaticTpl)</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>aaea34c35237a76b3449b17c2b063b1ac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a90c045a643a9557bcb08ca5ec03e75a5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; TransformPrismaticTpl &gt;::ReturnType</type>
      <name>se3action</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>ade118d2a40679ad5526516ca27939dca</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransformPrismaticTpl</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>abb23078740dce13181cb37d24fea951d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransformPrismaticTpl</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a29c026fe6995833b266324d3f9fd7334</anchor>
      <arglist>(const Scalar &amp;displacement)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a3021ed438d678621e2427644de205b52</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_displacement</name>
      <anchorfile>structpinocchio_1_1TransformPrismaticTpl.html</anchorfile>
      <anchor>a8def288f8d47d64ed90178e1fb82fb43</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TransformRevoluteTpl</name>
    <filename>structpinocchio_1_1TransformRevoluteTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <templarg>axis</templarg>
    <base>SE3Base&lt; TransformRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</base>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>cos</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>ac087f0dfe98beb49ed7f0c19e4e1149a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>cos</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a05ce6032516c49eb769a2badbe0414e5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a75e6b675b9dfb43fb1df083739200754</anchor>
      <arglist>(const TransformRevoluteTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainType</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a6b248b5bc552456289b3012ed346865f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a0ed75c93614cc7466d714a96bf28745c</anchor>
      <arglist>(TransformRevoluteTpl)</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a73dae2a49bb088e0d7a1477fab62471e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>af9ee303275a7cecbb05d226f290aa6c4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; TransformRevoluteTpl &gt;::ReturnType</type>
      <name>se3action</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a4ecc0441a7a9b016e386b1bb32a73502</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setValues</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>ac641bfe9cbf99a28a34e89b8a19f1bb3</anchor>
      <arglist>(const OtherScalar &amp;sin, const OtherScalar &amp;cos)</arglist>
    </member>
    <member kind="function">
      <type>const Scalar &amp;</type>
      <name>sin</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a8bc186ccb849c841a595c68c806003bb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Scalar &amp;</type>
      <name>sin</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a348cb8d68be8bda5d527a8cee0c5fd89</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransformRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a299c0d35ec3eb06bf2dcbb9337a3de5b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransformRevoluteTpl</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a9a7d4a7a6e70c6baa01c77a96f3bfc82</anchor>
      <arglist>(const Scalar &amp;sin, const Scalar &amp;cos)</arglist>
    </member>
    <member kind="function">
      <type>LinearType</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a5717cbc261eeb60e1dc857a867c0ad3b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>_setRotation</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a99ff48af9c80518811e1acf290b2aa88</anchor>
      <arglist>(typename PlainType::AngularRef &amp;rot) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_cos</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a0820c19ca924bef58762952297522fb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Scalar</type>
      <name>m_sin</name>
      <anchorfile>structpinocchio_1_1TransformRevoluteTpl.html</anchorfile>
      <anchor>a9baacaaaf552f46853bec35a98d04dcc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::TransformTranslationTpl</name>
    <filename>structpinocchio_1_1TransformTranslationTpl.html</filename>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>SE3Base&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;</base>
    <member kind="typedef">
      <type>traits&lt; TransformTranslationTpl &gt;::Vector3</type>
      <name>Vector3</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a3e3305313b627efdbd2d9adc054d9e42</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a42b2c4be883f59867a9f68283c13e8b6</anchor>
      <arglist>(const TransformTranslationTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator PlainType</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a2bdfbc84b50ed9fbf302f69bf3b250fb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PINOCCHIO_SE3_TYPEDEF_TPL</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a840ec9f22cc14c4146996feb275db9cd</anchor>
      <arglist>(TransformTranslationTpl)</arglist>
    </member>
    <member kind="function">
      <type>PlainType</type>
      <name>plain</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>aeebe2d7e2d3da3a46de59dba3cfb06bc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>AngularType</type>
      <name>rotation</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>aaf60483774f9b6d0760589086037fa02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SE3GroupAction&lt; TransformTranslationTpl &gt;::ReturnType</type>
      <name>se3action</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a01e53f166196fc093af364d96cf8213f</anchor>
      <arglist>(const SE3Tpl&lt; S2, O2 &gt; &amp;m) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransformTranslationTpl</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a2acdf1465939c57f6339a8cc6f547f30</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransformTranslationTpl</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a91ac72c875cdb5c12aef5e0ebc57fe3b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;translation)</arglist>
    </member>
    <member kind="function">
      <type>ConstLinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a35350ae2a2455d4c98f52863b9197d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LinearRef</type>
      <name>translation</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a88d10e8a9b867308598f0528fecd78a8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>LinearType</type>
      <name>m_translation</name>
      <anchorfile>structpinocchio_1_1TransformTranslationTpl.html</anchorfile>
      <anchor>a8fc8cb0e3b1d3026d4d8195504f22f8a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintTpl::Transpose</name>
    <filename>structpinocchio_1_1ConstraintTpl_1_1Transpose.html</filename>
    <member kind="function">
      <type>JointForce</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl_1_1Transpose.html</anchorfile>
      <anchor>a8c09bd383e8727d4d37b3afe0e3fcd71</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, NV, Eigen::Dynamic &gt;</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl_1_1Transpose.html</anchorfile>
      <anchor>a122995812ba2cf26fa61dbe506e8bd1b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;F)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Transpose</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl_1_1Transpose.html</anchorfile>
      <anchor>a270ba9d68950c11a5f058db1eca296bb</anchor>
      <arglist>(const ConstraintTpl &amp;ref)</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintTpl_1_1Transpose.html</anchorfile>
      <anchor>acc59235f1ee860e620e41e8e3f8a4e66</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ScaledConstraint::TransposeConst</name>
    <filename>structpinocchio_1_1ScaledConstraint_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ConstraintForceOp&lt; ScaledConstraint, Derived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint_1_1TransposeConst.html</anchorfile>
      <anchor>adb5c1d67c3a90670dfd12061027fcf9f</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintForceSetOp&lt; ScaledConstraint, Derived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint_1_1TransposeConst.html</anchorfile>
      <anchor>a9bdef68ce5b97eb130596fabc9969f82</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;F) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransposeConst</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint_1_1TransposeConst.html</anchorfile>
      <anchor>a32add3e7d1f0720364b06963dc4a2daa</anchor>
      <arglist>(const ScaledConstraint &amp;ref)</arglist>
    </member>
    <member kind="variable">
      <type>const ScaledConstraint &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ScaledConstraint_1_1TransposeConst.html</anchorfile>
      <anchor>ad9a1fc2d92105ca3460b81af1a09a314</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintPrismaticUnalignedTpl::TransposeConst</name>
    <filename>structpinocchio_1_1ConstraintPrismaticUnalignedTpl_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ConstraintForceOp&lt; ConstraintPrismaticUnalignedTpl, ForceDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>aae7d35aecfabe6649737cc2174fa9745</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintForceSetOp&lt; ConstraintPrismaticUnalignedTpl, ForceSet &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a98ff218dd4d2cd4c6ba324cf60c354ff</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ForceSet &gt; &amp;F)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransposeConst</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>ab1dab2f1c0a7d03284533b6b087a7b3c</anchor>
      <arglist>(const ConstraintPrismaticUnalignedTpl &amp;ref)</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintPrismaticUnalignedTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>aa8e08819b1e900add013a5d33fc0ea06</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintPrismaticTpl::TransposeConst</name>
    <filename>structpinocchio_1_1ConstraintPrismaticTpl_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ConstraintForceOp&lt; ConstraintPrismaticTpl, ForceDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a1a5975eca6c7ce694747ef061179363c</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintForceSetOp&lt; ConstraintPrismaticTpl, Derived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a0c6463cf9dcd7a3504c3a6a26b46f1c5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;F)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransposeConst</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl_1_1TransposeConst.html</anchorfile>
      <anchor>aeb043cefa218c9a07f40a1e9934e34af</anchor>
      <arglist>(const ConstraintPrismaticTpl &amp;ref)</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintPrismaticTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintPrismaticTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a520294bc2f5c3ca8d3f04ea8ba9b2b69</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintRevoluteTpl::TransposeConst</name>
    <filename>structpinocchio_1_1ConstraintRevoluteTpl_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ConstraintForceOp&lt; ConstraintRevoluteTpl, ForceDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a013cc8145eca1f78d8d962f074bb1e8f</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintForceSetOp&lt; ConstraintRevoluteTpl, Derived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a48506fc83bc2301dd546e6a0bc232635</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;F) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransposeConst</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a695e47b6d751262bce10fdd9e941f4d6</anchor>
      <arglist>(const ConstraintRevoluteTpl &amp;ref)</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintRevoluteTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a2493c73e6e91c6514cd42789e1a0d7ec</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintRevoluteUnalignedTpl::TransposeConst</name>
    <filename>structpinocchio_1_1ConstraintRevoluteUnalignedTpl_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ConstraintForceOp&lt; ConstraintRevoluteUnalignedTpl, ForceDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a4b660ef80fb5c6db8a40ee0b73b33f4d</anchor>
      <arglist>(const ForceDense&lt; ForceDerived &gt; &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>ConstraintForceSetOp&lt; ConstraintRevoluteUnalignedTpl, ForceSet &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a9d5af1a692b7ac08a96b4fff030d8a31</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ForceSet &gt; &amp;F)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TransposeConst</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>ac8657a886865760b1baec53578d1b774</anchor>
      <arglist>(const ConstraintRevoluteUnalignedTpl &amp;ref)</arglist>
    </member>
    <member kind="variable">
      <type>const ConstraintRevoluteUnalignedTpl &amp;</type>
      <name>ref</name>
      <anchorfile>structpinocchio_1_1ConstraintRevoluteUnalignedTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a20359501eb8c1dd41860286fcd115839</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintSphericalTpl::TransposeConst</name>
    <filename>structpinocchio_1_1ConstraintSphericalTpl_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ForceDense&lt; Derived &gt;::ConstAngularType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl_1_1TransposeConst.html</anchorfile>
      <anchor>ab10e80ff773b7548ea05833f3953041a</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;phi)</arglist>
    </member>
    <member kind="function">
      <type>const SizeDepType&lt; 3 &gt;::RowsReturn&lt; MatrixDerived &gt;::ConstType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintSphericalTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a5c83e4a759635269f680e1bef531e711</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixDerived &gt; &amp;F) const</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::ConstraintIdentityTpl::TransposeConst</name>
    <filename>structpinocchio_1_1ConstraintIdentityTpl_1_1TransposeConst.html</filename>
    <member kind="function">
      <type>ForceDense&lt; Derived &gt;::ToVectorConstReturnType</type>
      <name>operator*</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a9e86b120abfe7d709646bb83384fbb27</anchor>
      <arglist>(const ForceDense&lt; Derived &gt; &amp;phi)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>structpinocchio_1_1ConstraintIdentityTpl_1_1TransposeConst.html</anchorfile>
      <anchor>a1b9351b4544f8381ff7e425e171aeb7d</anchor>
      <arglist>(MatrixDerived) operator*(const Eigen</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::UnboundedRevoluteAffineTransform</name>
    <filename>structpinocchio_1_1UnboundedRevoluteAffineTransform.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>run</name>
      <anchorfile>structpinocchio_1_1UnboundedRevoluteAffineTransform.html</anchorfile>
      <anchor>a59a47e7f41c3ab0cefe81a8fab545968</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigVectorIn &gt; &amp;q, const Scalar &amp;scaling, const Scalar &amp;offset, const Eigen::MatrixBase&lt; ConfigVectorOut &gt; &amp;dest)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR10LimitedLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR10LimitedLoader.html</filename>
    <base>example_robot_data::robots_loader::UR10Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR10LimitedLoader.html</anchorfile>
      <anchor>ac55b17e3ef1a3c908daa469acb313a66</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR10Loader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR10Loader.html</filename>
    <base>example_robot_data::robots_loader::UR3Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR10Loader.html</anchorfile>
      <anchor>a99cd840abda830f9f994600d5358e8e8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR3GripperLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR3GripperLoader.html</filename>
    <base>example_robot_data::robots_loader::UR3Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3GripperLoader.html</anchorfile>
      <anchor>a75b095790e4898fed13c48e1aae5c76d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3GripperLoader.html</anchorfile>
      <anchor>a670c45adb670c94effabf81fea9c5b9b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR3LimitedLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR3LimitedLoader.html</filename>
    <base>example_robot_data::robots_loader::UR3Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3LimitedLoader.html</anchorfile>
      <anchor>acae574f6e10b40f876c6a6fb97d982bd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR3Loader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR3Loader.html</filename>
    <base>example_robot_data::robots_loader::RobotLoader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>path</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3Loader.html</anchorfile>
      <anchor>a620f50de2b7ad3587712c6d0803eb04c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type></type>
      <name>ref_posture</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3Loader.html</anchorfile>
      <anchor>a55fc8527a8911f1b4a6ecac6f9a95deb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3Loader.html</anchorfile>
      <anchor>a32fdbe1f6a0ba13d7688b85cdc37187b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_subpath</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR3Loader.html</anchorfile>
      <anchor>a0ecfe899e92a6d328c7ef56ab20ec63d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR5GripperLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR5GripperLoader.html</filename>
    <base>example_robot_data::robots_loader::UR5Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR5GripperLoader.html</anchorfile>
      <anchor>a0e8b7ec1055eb119a8d118dbfb49058b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR5GripperLoader.html</anchorfile>
      <anchor>aa9f7ebcd266179d6068726ad9fcedbba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR5LimitedLoader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR5LimitedLoader.html</filename>
    <base>example_robot_data::robots_loader::UR5Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR5LimitedLoader.html</anchorfile>
      <anchor>ab7ef208c80f7b7c340bffec58a10f165</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>example_robot_data::robots_loader::UR5Loader</name>
    <filename>classexample__robot__data_1_1robots__loader_1_1UR5Loader.html</filename>
    <base>example_robot_data::robots_loader::UR3Loader</base>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR5Loader.html</anchorfile>
      <anchor>a169913c696bbb20a7d5081d5f4f679b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>classexample__robot__data_1_1robots__loader_1_1UR5Loader.html</anchorfile>
      <anchor>afdc2be2c0a798714083c1d37014debf0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::urdf::details::UrdfTree</name>
    <filename>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</filename>
    <member kind="typedef">
      <type>std::map&lt; std::string, const ptree &amp; &gt;</type>
      <name>LinkMap_t</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a1c005b4c2dcf90f0d07565165c7e074c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::property_tree::ptree</type>
      <name>ptree</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a75a0c1f2c299bdf40a218da24400bb8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isCapsule</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a96e37c893c1ba6574a7aa0093a36d210</anchor>
      <arglist>(const std::string &amp;linkName, const std::string &amp;geomName) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isMeshConvex</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a0a18fa71ca18e55eeb15c8c06e1bfc7b</anchor>
      <arglist>(const std::string &amp;linkName, const std::string &amp;geomName) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parse</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>acd120c0d1d30d70e0ade9c595a748146</anchor>
      <arglist>(const std::string &amp;xmlStr)</arglist>
    </member>
    <member kind="variable">
      <type>LinkMap_t</type>
      <name>links_</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a0c0360ea670e263e54f5eee74d9ede1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ptree</type>
      <name>tree_</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a6ab3649142e40036f129e198b9b8ea1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>::urdf::ModelInterfaceSharedPtr</type>
      <name>urdf_</name>
      <anchorfile>structpinocchio_1_1urdf_1_1details_1_1UrdfTree.html</anchorfile>
      <anchor>a0d65c15815c2ad74d730cf97cfa74ac5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pinocchio::VectorSpaceOperationTpl</name>
    <filename>structpinocchio_1_1VectorSpaceOperationTpl.html</filename>
    <templarg>Dim</templarg>
    <templarg>_Scalar</templarg>
    <templarg>_Options</templarg>
    <base>LieGroupBase&lt; VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>dDifference_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>aa504b118a36a2cfa3b7b0e9aa46ded52</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference_product_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a63c05ad6edb5e5fb19190a3d95656edd</anchor>
      <arglist>(const ConfigL_t &amp;, const ConfigR_t &amp;, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate_product_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a911ac9603d870cfa8cc3fac1ce0069c9</anchor>
      <arglist>(const Config_t &amp;, const Tangent_t &amp;, const JacobianIn_t &amp;Jin, JacobianOut_t &amp;Jout, bool, const ArgumentPosition, const AssignmentOperatorType op) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a9a41f61ba95e21c944bb7e2615c588eb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dq_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a4911e832b9b0284fb18001f134baa48d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a4359b811c85c9cdc8a0720ea98fb0dd3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport_dv_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>aacea68301d4070f1ca001b0f9530b2bd</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>aebae2c99655e66e22d94b49b87921ea7</anchor>
      <arglist>(const VectorSpaceOperationTpl &amp;other) const</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a06346d18602efe29511314bc4c36bdae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>ConfigVector_t</type>
      <name>neutral</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a4a49a7edfb900f8a5d02c2e1091a81ac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nq</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a80b7fc86fa57c03007880ed3ab0d8ecb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>nv</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a0fab96533560cc9d9cea2904983fa2eb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>VectorSpaceOperationTpl &amp;</type>
      <name>operator=</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a14085381508461ce29892c6d0ea81189</anchor>
      <arglist>(const VectorSpaceOperationTpl &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a9595d64bfb161a2eab094c7cfebdcf50</anchor>
      <arglist>(VectorSpaceOperationTpl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>ae66cc3d7f98d5d67c92ca1cf92147144</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a845bac46905bf1689d6d486f8e882f7e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;lower_pos_limit, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;upper_pos_limit, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VectorSpaceOperationTpl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a5b65239884dabf232d8185afc90b8d34</anchor>
      <arglist>(int size=boost::static_signed_max&lt; 0, Dim &gt;::value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VectorSpaceOperationTpl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a2a39b21e6170b18e46d28a4c42dafa33</anchor>
      <arglist>(const VectorSpaceOperationTpl &amp;other)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>difference_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a8ad485921335bebe68389e6629f9e49f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;d)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dq_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a41e19ddfb95ff0e2f8ac5531001143a3</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>dIntegrate_dv_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>ac03773114f4fe3396497f65b31334878</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrate_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a6da9551facf95987afc7d52cdc21de1b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Velocity_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>integrateCoeffWiseJacobian_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>aff80e016b5c8d97319381c7077e5b736</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Eigen::MatrixBase&lt; Jacobian_t &gt; &amp;J)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isNormalized_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a960829304361280e91f3c51849c180c8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;, const Scalar &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>normalize_impl</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a38787c31132e5d05d8237732705c81b6</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Config_t &gt; &amp;)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::internal::variable_if_dynamic&lt; Index, Dim &gt;</type>
      <name>size_</name>
      <anchorfile>structpinocchio_1_1VectorSpaceOperationTpl.html</anchorfile>
      <anchor>a028638f46c4e289b231b605ac3a836db</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>boost::serialization::version&lt; pinocchio::FrameTpl&lt; Scalar, Options &gt; &gt;</name>
    <filename>structboost_1_1serialization_1_1version_3_01pinocchio_1_1FrameTpl_3_01Scalar_00_01Options_01_4_01_4.html</filename>
    <templarg></templarg>
    <templarg>Options</templarg>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structboost_1_1serialization_1_1version_3_01pinocchio_1_1FrameTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8ac6743f491ed7691b13f24010be7bb2a7ba96be2d6174e13e57ec584712821f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>value</name>
      <anchorfile>structboost_1_1serialization_1_1version_3_01pinocchio_1_1FrameTpl_3_01Scalar_00_01Options_01_4_01_4.html</anchorfile>
      <anchor>a8ac6743f491ed7691b13f24010be7bb2a7ba96be2d6174e13e57ec584712821f8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::base_visualizer::VideoContext</name>
    <filename>classpinocchio_1_1visualize_1_1base__visualizer_1_1VideoContext.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__enter__</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1VideoContext.html</anchorfile>
      <anchor>ab0bd2401f40f9558ceefb7a77394e69c</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__exit__</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1VideoContext.html</anchorfile>
      <anchor>a69923c56ba1138200bba70abf65d90d0</anchor>
      <arglist>(self, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1VideoContext.html</anchorfile>
      <anchor>a87e137d31b0d2b8cfc02cbf353af527f</anchor>
      <arglist>(self, viz, fps, filename, kwargs)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vid_writer</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1VideoContext.html</anchorfile>
      <anchor>ac69841c6daab2c972a63c6d06bda5454</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>classpinocchio_1_1visualize_1_1base__visualizer_1_1VideoContext.html</anchorfile>
      <anchor>a3105409f5a7fd46441078612c31b9ec5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pinocchio::visualize::rviz_visualizer::RVizVisualizer::Viewer</name>
    <filename>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer_1_1Viewer.html</filename>
    <member kind="variable" static="yes">
      <type></type>
      <name>app</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer_1_1Viewer.html</anchorfile>
      <anchor>a3c06b1d6a43802d20f8f23e1a41bfc63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type></type>
      <name>viz</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer_1_1Viewer.html</anchorfile>
      <anchor>a21e952da11335f7afbfc3ebaea9feb90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type></type>
      <name>viz_manager</name>
      <anchorfile>classpinocchio_1_1visualize_1_1rviz__visualizer_1_1RVizVisualizer_1_1Viewer.html</anchorfile>
      <anchor>ab24356000d13022ba2d703a14b0ceb42</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>robot_hand::Visual</name>
    <filename>classrobot__hand_1_1Visual.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>ac33e5cba7956ff268de991a7957e0efa</anchor>
      <arglist>(self, name, jointParent, placement, radius=.1, length=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>collision</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a943736a805b11af762ff17ee9a169ac6</anchor>
      <arglist>(self, c2, data=None, oMj1=None, oMj2=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>displayCollision</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a3f9e9eaf224b00e7fb60984e37a35b4a</anchor>
      <arglist>(self, viewer, name=&apos;world/wa&apos;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>isCapsule</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a9bc3156451c5409de7e7943117ab7978</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jacobian</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a8878485f75bbbd0e1a1f5c6c1b40ae2f</anchor>
      <arglist>(self, c2, robot, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>place</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a60bbad668517376c26c1189362eb6972</anchor>
      <arglist>(self, display, oMjoint)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dist</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a08fcd464f656ba1a1d5f01ed5060d8a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>jointParent</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a578bcdea22295b9f9df39d087246f555</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>length</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a9466024d63be239faa12e1e8b3b731dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a44c08ea22db31b622c01954676474640</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a55d6d1397c5b99172f20ddc2623fc650</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>a7fd335e1eaab4ce79f9a4a4cec001a95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>radius</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>ad9b37c9d0bba213815fb619af39c7c07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>classrobot__hand_1_1Visual.html</anchorfile>
      <anchor>afe0fe495bea1edacf84ed4d4b508c99a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pendulum::Visual</name>
    <filename>classpendulum_1_1Visual.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classpendulum_1_1Visual.html</anchorfile>
      <anchor>a6d6bdc0f750e2f287f6d3a0b755d6f58</anchor>
      <arglist>(self, name, jointParent, placement)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>place</name>
      <anchorfile>classpendulum_1_1Visual.html</anchorfile>
      <anchor>a31fecedf25714f20c56fe6f93a003b8b</anchor>
      <arglist>(self, display, oMjoint)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>jointParent</name>
      <anchorfile>classpendulum_1_1Visual.html</anchorfile>
      <anchor>a7d652cf410093f831bffb22cc584c1c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>classpendulum_1_1Visual.html</anchorfile>
      <anchor>ad43be123e61a919f35b32814f4dd1c29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>classpendulum_1_1Visual.html</anchorfile>
      <anchor>a075bc7bb8cd7a7d2dea9b84b6b2d6bc7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dcrba::VRNEA</name>
    <filename>classdcrba_1_1VRNEA.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__call__</name>
      <anchorfile>classdcrba_1_1VRNEA.html</anchorfile>
      <anchor>ae013025b94f409587ca578f464432fa9</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classdcrba_1_1VRNEA.html</anchorfile>
      <anchor>a437e795b05833d6ce039078279abeccd</anchor>
      <arglist>(self, robot)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q</name>
      <anchorfile>classdcrba_1_1VRNEA.html</anchorfile>
      <anchor>a85c42e10a411cb089b94bef9d95302f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classdcrba_1_1VRNEA.html</anchorfile>
      <anchor>a1f96f90e075328dee96a52c0d94aa120</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>YJ</name>
      <anchorfile>classdcrba_1_1VRNEA.html</anchorfile>
      <anchor>ac79a8273ba2d7e14e7d94fb65295723b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>append-urdf-model-with-another-model</name>
    <filename>namespaceappend-urdf-model-with-another-model.html</filename>
    <member kind="variable">
      <type></type>
      <name>body_inertia</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae71faeaa16f2a5fe24b29be95620a42f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>body_mass</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a28572663c3716a1e7c367eaf6831b0ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>body_placement</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a563f99181976757c371870c6a8220064</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>body_radius</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a008f966b49e4be00984e9b7d14ce53c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae06b2cfe3ea031511de9c19000f9794c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id_end_effector</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a945019a16c411daefd923717e7f0466f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom1_name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a10f3260a97ea1692411457c8271ae270</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom1_obj</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>adb106c24780621a95a9fd21dfe85ea49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom2_name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a672700ff467af049b1b4ae0cabb2d162</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom2_obj</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>aa1c678342711190957b6a1922976409d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a7005657a62a559b5ac89afc56af84072</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_id</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ab07921936c3deaf57188a1c77249ba1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>joint_name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a0a7d856fcae24a4375e57579aa07edd8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_placement</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae4a69e22bff90d17484f578533b5106d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a54fd486170bdf0a02f6b32ce5676f28f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a926a6bf13d54df816050e97129ad4391</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a445591e9d66f4f6ce45eb4342639f6f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>acdaf1b38584847ad53e1de5fe567f954</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model2</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a2739dd6f86bd0b98dce1d1ffe11e3d35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a79845e8997d347671ba64f3410052546</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a1a21e9bef69bda1109179fad32c50b41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>af15c97dc3c036905de8274798dbb67b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>package_dirs</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a5cf97affa19f5fcd236934532562dfd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>parent_id</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ad0572f32f23e86b36dc0e860935d228c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>aa9108ac348436d63fb40389dbdf7b740</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a884b104d931994b6a809957d86e3f3f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a8bd508afb92b031da2cfc65bddcce30f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>ae2a80fb53fd396934f81872d740e759d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2_placement</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a46de9814181eb1159f05a76e1c946b90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a3c5c7783c3cc3734d67cb2b32f458c22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a228701dc5a8d09a33e73539e53aea104</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a289f922f0b1c83ab38b39e94bc570f7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model1</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a98011f1e4658075ba18d7291eaa0b86e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model2</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>aa721431253f5d2cbe78aa6bee1a7b004</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespaceappend-urdf-model-with-another-model.html</anchorfile>
      <anchor>a0a175aa9f1d1454b8d650494effe663c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>bindings</name>
    <filename>namespacebindings.html</filename>
    <class kind="class">bindings::TestSE3</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_aba</name>
    <filename>namespacebindings__aba.html</filename>
    <class kind="class">bindings_aba::TestABA</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_centroidal_dynamics_derivatives</name>
    <filename>namespacebindings__centroidal__dynamics__derivatives.html</filename>
    <class kind="class">bindings_centroidal_dynamics_derivatives::TestDeriavtives</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_com</name>
    <filename>namespacebindings__com.html</filename>
    <class kind="class">bindings_com::TestComBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_com_velocity_derivatives</name>
    <filename>namespacebindings__com__velocity__derivatives.html</filename>
    <class kind="class">bindings_com_velocity_derivatives::TestVComDerivativesBindings</class>
    <member kind="function">
      <type>def</type>
      <name>df_dq</name>
      <anchorfile>namespacebindings__com__velocity__derivatives.html</anchorfile>
      <anchor>a7b5f3c491bdc50f6fe03b95f421b3d44</anchor>
      <arglist>(model, func, q, h=1e-9)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>bindings_data</name>
    <filename>namespacebindings__data.html</filename>
    <class kind="class">bindings_data::TestData</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_dynamics</name>
    <filename>namespacebindings__dynamics.html</filename>
    <class kind="class">bindings_dynamics::TestDynamicsBindings</class>
    <member kind="variable">
      <type>float</type>
      <name>inv_damping</name>
      <anchorfile>namespacebindings__dynamics.html</anchorfile>
      <anchor>ae6e464e9d596c7b2cec696b64128da47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>r_coeff</name>
      <anchorfile>namespacebindings__dynamics.html</anchorfile>
      <anchor>aaa03efcdf9af132cb0b2603958600b43</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>bindings_fcl_transform</name>
    <filename>namespacebindings__fcl__transform.html</filename>
    <class kind="class">bindings_fcl_transform::TestFCLTransformConversion</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_force</name>
    <filename>namespacebindings__force.html</filename>
    <class kind="class">bindings_force::TestForceBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_forward_dynamics_derivatives</name>
    <filename>namespacebindings__forward__dynamics__derivatives.html</filename>
    <class kind="class">bindings_forward_dynamics_derivatives::TestDeriavtives</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_frame</name>
    <filename>namespacebindings__frame.html</filename>
    <class kind="class">bindings_frame::TestFrameBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_frame_derivatives</name>
    <filename>namespacebindings__frame__derivatives.html</filename>
    <class kind="class">bindings_frame_derivatives::TestFrameBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_geometry_model</name>
    <filename>namespacebindings__geometry__model.html</filename>
    <class kind="class">bindings_geometry_model::TestGeometryModelBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_geometry_model_urdf</name>
    <filename>namespacebindings__geometry__model__urdf.html</filename>
    <class kind="class">bindings_geometry_model_urdf::TestGeometryObjectUrdfBindings</class>
    <member kind="function">
      <type>def</type>
      <name>checkGeom</name>
      <anchorfile>namespacebindings__geometry__model__urdf.html</anchorfile>
      <anchor>afa604e42d1c4b60c99c1c3bb28e9fd65</anchor>
      <arglist>(geom1, geom2)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>bindings_geometry_object</name>
    <filename>namespacebindings__geometry__object.html</filename>
    <class kind="class">bindings_geometry_object::TestGeometryObjectBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_inertia</name>
    <filename>namespacebindings__inertia.html</filename>
    <class kind="class">bindings_inertia::TestInertiaBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_inverse_dynamics_derivatives</name>
    <filename>namespacebindings__inverse__dynamics__derivatives.html</filename>
    <class kind="class">bindings_inverse_dynamics_derivatives::TestDeriavtives</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_joint_algorithms</name>
    <filename>namespacebindings__joint__algorithms.html</filename>
    <class kind="class">bindings_joint_algorithms::TestJointsAlgo</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_joint_composite</name>
    <filename>namespacebindings__joint__composite.html</filename>
    <class kind="class">bindings_joint_composite::TestJointCompositeBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_joints</name>
    <filename>namespacebindings__joints.html</filename>
    <class kind="class">bindings_joints::TestJoints</class>
    <member kind="variable">
      <type>list</type>
      <name>joint_types</name>
      <anchorfile>namespacebindings__joints.html</anchorfile>
      <anchor>ab15a04607a957e17a82aa48c67cdb819</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>bindings_kinematic_regressor</name>
    <filename>namespacebindings__kinematic__regressor.html</filename>
    <class kind="class">bindings_kinematic_regressor::TestKinematicRegressorBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_kinematics</name>
    <filename>namespacebindings__kinematics.html</filename>
    <class kind="class">bindings_kinematics::TestKinematicsBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_kinematics_derivatives</name>
    <filename>namespacebindings__kinematics__derivatives.html</filename>
    <class kind="class">bindings_kinematics_derivatives::TestFrameBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_liegroups</name>
    <filename>namespacebindings__liegroups.html</filename>
    <class kind="class">bindings_liegroups::TestLiegroupBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_model</name>
    <filename>namespacebindings__model.html</filename>
    <class kind="class">bindings_model::TestModel</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_motion</name>
    <filename>namespacebindings__motion.html</filename>
    <class kind="class">bindings_motion::TestMotionBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_regressor</name>
    <filename>namespacebindings__regressor.html</filename>
    <class kind="class">bindings_regressor::TestRegressorBindings</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_rnea</name>
    <filename>namespacebindings__rnea.html</filename>
    <class kind="class">bindings_rnea::TestRNEA</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_sample_models</name>
    <filename>namespacebindings__sample__models.html</filename>
    <class kind="class">bindings_sample_models::TestSampleModels</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_SE3</name>
    <filename>namespacebindings__SE3.html</filename>
    <class kind="class">bindings_SE3::TestSE3Bindings</class>
    <member kind="variable">
      <type></type>
      <name>ones</name>
      <anchorfile>namespacebindings__SE3.html</anchorfile>
      <anchor>a1992970c7587b98e619cddcaa75a5dda</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>bindings_spatial</name>
    <filename>namespacebindings__spatial.html</filename>
    <class kind="class">bindings_spatial::TestSpatial</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_std_map</name>
    <filename>namespacebindings__std__map.html</filename>
    <class kind="class">bindings_std_map::TestStdMap</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_std_vector</name>
    <filename>namespacebindings__std__vector.html</filename>
    <class kind="class">bindings_std_vector::TestStdMap</class>
  </compound>
  <compound kind="namespace">
    <name>bindings_urdf</name>
    <filename>namespacebindings__urdf.html</filename>
    <class kind="class">bindings_urdf::TestGeometryObjectUrdfBindings</class>
  </compound>
  <compound kind="namespace">
    <name>boost</name>
    <filename>namespaceboost.html</filename>
    <namespace>boost::fusion</namespace>
    <namespace>boost::math</namespace>
    <namespace>boost::python</namespace>
    <namespace>boost::serialization</namespace>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_constructor&lt; ::pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::has_nothrow_copy&lt; ::pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
  </compound>
  <compound kind="namespace">
    <name>boost::fusion</name>
    <filename>namespaceboost_1_1fusion.html</filename>
    <member kind="function">
      <type>result_of::push_front&lt; V const, T &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a0441a16f6f3931af114c510e31d78c91</anchor>
      <arglist>(T const &amp;t, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; V const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a2fc1bd1db243354bc6eebbac3bab1bf9</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; V const, T3 &gt;::type const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a8e2ab39f9c756010ae740c2abbdc8c4f</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, T3 const &amp;t3, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; V const, T4 &gt;::type const, T3 &gt;::type const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a521469681aad2666102b2ad9898e1e04</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, T3 const &amp;t3, T4 const &amp;t4, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; typename result_of::push_front&lt; V const, T5 &gt;::type const, T4 &gt;::type const, T3 &gt;::type const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>ac49bda9310ee0104f7611fdca5061ce0</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, T3 const &amp;t3, T4 const &amp;t4, T5 const &amp;t5, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED result_of::push_front&lt; typename result_of::push_front&lt; V const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append2</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>aa220c32ade3bb4e64710c78570fe1690</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, V const &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>result_of::push_front&lt; typename result_of::push_front&lt; V const, T2 &gt;::type const, T1 &gt;::type</type>
      <name>append2</name>
      <anchorfile>namespaceboost_1_1fusion.html</anchorfile>
      <anchor>a3e1e06e29ce65382c6358aac250e9d89</anchor>
      <arglist>(T1 const &amp;t1, T2 const &amp;t2, V const &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>boost::math</name>
    <filename>namespaceboost_1_1math.html</filename>
    <namespace>boost::math::constants</namespace>
  </compound>
  <compound kind="namespace">
    <name>boost::math::constants</name>
    <filename>namespaceboost_1_1math_1_1constants.html</filename>
    <namespace>boost::math::constants::detail</namespace>
  </compound>
  <compound kind="namespace">
    <name>boost::math::constants::detail</name>
    <filename>namespaceboost_1_1math_1_1constants_1_1detail.html</filename>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt; CppAD::AD&lt; Scalar &gt; &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt; CppAD::cg::CG&lt; Scalar &gt; &gt;</class>
    <class kind="struct">boost::math::constants::detail::constant_pi&lt;::casadi::SX &gt;</class>
  </compound>
  <compound kind="namespace">
    <name>boost::python</name>
    <filename>namespaceboost_1_1python.html</filename>
    <namespace>boost::python::converter</namespace>
    <member kind="function">
      <type>void</type>
      <name>def_constant</name>
      <anchorfile>namespaceboost_1_1python.html</anchorfile>
      <anchor>a83d002edf38ca4d107f8ec8507f01af1</anchor>
      <arglist>(const char *name, const T &amp;value)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>boost::python::converter</name>
    <filename>namespaceboost_1_1python_1_1converter.html</filename>
    <class kind="struct">boost::python::converter::implicit&lt; ::hpp::fcl::Transform3f,::pinocchio::SE3Tpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">boost::python::converter::implicit&lt; ::pinocchio::SE3Tpl&lt; Scalar, Options &gt;,::hpp::fcl::Transform3f &gt;</class>
  </compound>
  <compound kind="namespace">
    <name>boost::serialization</name>
    <filename>namespaceboost_1_1serialization.html</filename>
    <namespace>boost::serialization::fix</namespace>
    <class kind="struct">boost::serialization::version&lt; pinocchio::FrameTpl&lt; Scalar, Options &gt; &gt;</class>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a502f1f94295f8852f8e2dd49566a2399</anchor>
      <arglist>(Archive &amp;ar, pinocchio::Symmetric3Tpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad73eb8e8a6dce488d7dd9f8bdc480399</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ForceTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a233e65255eff940e5c56fa8c8167de01</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a9feb14d532b130f38a470bd0359f4cfe</anchor>
      <arglist>(Archive &amp;ar, pinocchio::SE3Tpl&lt; Scalar, Options &gt; &amp;M, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aee640763e596b938426a9e20e92d77f8</anchor>
      <arglist>(Archive &amp;ar, pinocchio::InertiaTpl&lt; Scalar, Options &gt; &amp;I, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aede811d757dc94e2cbbcaffa67265f4f</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelBase&lt; Derived &gt; &amp;joint, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a93b80670d1f3fdc7a48e6d3f506bcbe5</anchor>
      <arglist>(Archive &amp;ar, Eigen::array&lt; _IndexType, _NumIndices &gt; &amp;a, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>load</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a2a37954f786b8f472b3cf3e9494e1dd2</anchor>
      <arglist>(Archive &amp;ar, ::pinocchio::Tensor&lt; _Scalar, _NumIndices, _Options, _IndexType &gt; &amp;t, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>const nvp&lt; typename pinocchio::container::aligned_vector&lt; T &gt;::vector_base &gt;</type>
      <name>make_nvp</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a8fab674091d6097b082c9282907f197a</anchor>
      <arglist>(const char *name, pinocchio::container::aligned_vector&lt; T &gt; &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>const nvp&lt; std::vector&lt; T, Allocator &gt; &gt;</type>
      <name>make_nvp</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a8552b9a0512be067c4ea6b1ffc05cd01</anchor>
      <arglist>(const char *name, std::vector&lt; T, Allocator &gt; &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0194f98ee72d454b3b64a156fc7ea3e2</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::Symmetric3Tpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6a1bda45fa057606aabc63d1ee520640</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::ForceTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a295a38b793d743ba9dec69af0553bf59</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::MotionTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>adefb774b0e76dd95c3a3fc8f97f582f1</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::SE3Tpl&lt; Scalar, Options &gt; &amp;M, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab37212af526b37e3e13a6399764fb3d9</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::InertiaTpl&lt; Scalar, Options &gt; &amp;I, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a38e090c9e71ce504b2d1ad5fe30c6e15</anchor>
      <arglist>(Archive &amp;ar, const pinocchio::JointModelBase&lt; Derived &gt; &amp;joint, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>af75d8fedb7c0ad81d265566cd20a5b17</anchor>
      <arglist>(Archive &amp;ar, const Eigen::array&lt; _IndexType, _NumIndices &gt; &amp;a, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>save</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a115c94190a4cbcf1dc3a185c5320e77d</anchor>
      <arglist>(Archive &amp;ar, const ::pinocchio::Tensor&lt; _Scalar, _NumIndices, _Options, _IndexType &gt; &amp;t, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a27dc44a948e56ea79d2bb8ad3441bcc7</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a1edf067471f15ac965b4053918258df0</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a484a431fdcf733ae803b8599a33aece9</anchor>
      <arglist>(Archive &amp;ar, pinocchio::TransformRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ac3c297a5311373fe1564f8c31da1d2b2</anchor>
      <arglist>(Archive &amp;ar, pinocchio::FrameTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a842233c1d81c8492eb547c646a2189b8</anchor>
      <arglist>(Archive &amp;ar, pinocchio::container::aligned_vector&lt; T &gt; &amp;v, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a90d6bce25c704a4dcd2382da978ee6a4</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ac5d2c1c4443010211a106daa4888d7c7</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a3816d0d53ec5e27e3cf635cff78dd208</anchor>
      <arglist>(Archive &amp;ar, pinocchio::DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>af9a9382ae1ec2243eac58b10862d3609</anchor>
      <arglist>(Archive &amp;ar, pinocchio::CollisionPair &amp;collision_pair, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a3bbdf48304dc7c5ad5c7e50500adcb6c</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a53d677ee8cc3038f0e69f2ded7c4a0aa</anchor>
      <arglist>(Archive &amp;ar, pinocchio::TransformPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>afa0b1d4f4bdb0e910876eb5575e9509c</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintSphericalTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>acd2faab80d87c2d48587471a1cca2aa4</anchor>
      <arglist>(Archive &amp;ar, pinocchio::GeometryData &amp;geom_data, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aafeb2dd7f462b10f9aabc0c7a24d2549</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionSphericalTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aaf2dba988ad96fa7c7d5f3fee386ac8d</anchor>
      <arglist>(Archive &amp;ar, pinocchio::Symmetric3Tpl&lt; Scalar, Options &gt; &amp;S, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a92ddc61e210c432ad7a0ce818e3c2b0f</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintTranslationTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7ff3c0cd25d6e372651049b13f6eb722</anchor>
      <arglist>(Archive &amp;ar, pinocchio::TransformTranslationTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6b1b22aba910802c62fc476e9664e4e0</anchor>
      <arglist>(Archive &amp;ar, pinocchio::SE3Tpl&lt; Scalar, Options &gt; &amp;M, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>af83f75460cd1383ee208659df66932b4</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ForceTpl&lt; Scalar, Options &gt; &amp;f, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7e0f285fe42f6fd980408595f721fd0f</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad84f5048c4ce026a18d4315a22bc1eff</anchor>
      <arglist>(Archive &amp;ar, pinocchio::InertiaTpl&lt; Scalar, Options &gt; &amp;I, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aa5bdf3ac3a5db5855320849bd920c332</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionTranslationTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ac3fa4b0338e5d6ccae459d1126d8c853</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintIdentityTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a1095f05332e27f9265378e71dd3bec1b</anchor>
      <arglist>(Archive &amp;, pinocchio::MotionZeroTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a44feee620523465cbfaf06c26f64d1da</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a52b58b60477883985e0ac2367e542e8b</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionPlanarTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad80e155c75180ea2859abb01b38faa8e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>afa2d409a5f692c4c80f5eff2a21b7078</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0bced71cc210ab9832992f97fe3faa72</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a324c62f90f43f8c2465c53ef5d1e1f95</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintTpl&lt; Dim, Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad169827597ca0666b2c7588d83bf172c</anchor>
      <arglist>(Archive &amp;ar, pinocchio::MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;m, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>abbc245dff2ab53917a089267fe20d04e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>abe7299e77f5cf7b78b18fd7ef83f5823</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ScaledConstraint&lt; Constraint &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a5eee4642a04c5f1f39b28dadcea6160f</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a077f2a12aa3027f0342fa291f62ad716</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6a4ee0c411449a124b36d55c7ce818d5</anchor>
      <arglist>(Archive &amp;, pinocchio::ConstraintPlanarTpl&lt; Scalar, Options &gt; &amp;, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0bc653d78c9dd9f9c310f39b7528620a</anchor>
      <arglist>(Archive &amp;ar, pinocchio::ConstraintSphericalZYXTpl&lt; Scalar, Options &gt; &amp;S, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a321ce1bec0102bcf7effbc55df1bc141</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab8b460458e42be4919a0069bd2310185</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a209757bbc6d90ffe41958f4def42bb87</anchor>
      <arglist>(Archive &amp;ar, Eigen::array&lt; _IndexType, _NumIndices &gt; &amp;a, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a738b1c287d47dbabc0c4413740146049</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataPlanarTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a2f55b9d36d90ec3b92c440c24b3d7bf6</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a698907a8b2811757604eded17262d7f6</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataSphericalTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a0db276959e69fda6d3265fa567661a75</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a1cbf8424d3bbe44c98eb3c6095b366a7</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a748bd45b2783f28ee236ccb29ec41494</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelPlanarTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab754dd833b7a1f03c9b3498b63a3451d</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataTranslationTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6bad7661d8228f1d24287483465bae8e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelSphericalTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ad73a5f603b1fe6864021a19af4194294</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a02d9fc894682ed0d57928afa20b5cf7d</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a6a9f1d82b6c49fb4af8a3d9ed0faa94c</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7140a16cbef3e16fdfe9ae7bd9e765e9</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelTranslationTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a83aa8af8aa735d4c91c26fc4affd287e</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>ab41108a49b6d90b82f97bfe62d0e8ca8</anchor>
      <arglist>(Archive &amp;ar, ::pinocchio::Tensor&lt; _Scalar, _NumIndices, _Options, _IndexType &gt; &amp;t, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a7252f1fe0325118ed3e8568dbdddaf22</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a8cc1f8860021fe7657d795534abe9bf7</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a97621d83fbf772911d2b59c7914ca664</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a5bdf4e07ce6757c5d575fc5c5aec22ed</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>aab551e7346d4171476a064c491aac1e2</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataMimic&lt; JointData &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a3bb685e0992564f7945922793cbf4c51</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a73936cd03bdf8899dc0c6e89934350ec</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a80a6a0676acdf3292a2a9e3b708f4e15</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization.html</anchorfile>
      <anchor>a80bdd0d4440bb785dfba311af3fa1c50</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelMimic&lt; JointModel &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>boost::serialization::fix</name>
    <filename>namespaceboost_1_1serialization_1_1fix.html</filename>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization_1_1fix.html</anchorfile>
      <anchor>aebb82d20df534488019db6eebefbd491</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointModelBase&lt; Derived &gt; &amp;joint, const unsigned int version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespaceboost_1_1serialization_1_1fix.html</anchorfile>
      <anchor>ab73412eedfa2c392a3be6ec31fb13c45</anchor>
      <arglist>(Archive &amp;ar, pinocchio::JointDataBase&lt; Derived &gt; &amp;joint_data, const unsigned int)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>build-reduced-model</name>
    <filename>namespacebuild-reduced-model.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a662182046103ae7d829cc84b25524b72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a59ee7c3a233e4c9590223ce5bbd52395</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>geom_models</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>ad9ad32c30f2a59d5baf56ececaec778e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometric_models_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>aa3bc2ee9cae13b618e042499e5454504</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>initialJointConfig</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a681c48922fa69fdc89b5863c876f848e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>jointsToLock</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>adbbd16a8bedee67111e39a527474b652</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>jointsToLockIDs</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a501082be872816e8740d71e4cc0b1e49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>list_of_geom_models</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a602d834610ecfcbcee92925803437382</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>list_of_joints_to_lock</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>aa08a00001220154a26d7fe7d91b08818</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a7b2ed0fd2b8bd99cc5f7d792720d61db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>mixed_jointsToLockIDs</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a4db2656c32171f21fcb1702ce0d864f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a9ca8ad278709e767287d2b87f5c3c7fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>model_path</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a5c5dec0c69cc61dbc21955586e081a36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a8e17c732774bbc2a4e56d79339d96328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a3eda6d730dd28562e3684b8e4b67c3bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reduced_robot</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a952229d2d2a8f5f2f64770757495f0b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reference_configuration</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a156095651bb72db98801a25a5fb29d1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>ab68ad43d7e63fabca535c963ad5105da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a5a0acddc7499d01e0994f005c4dd4751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a4d2fcafa70d5a0305fa8e8d3b9bd7750</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model_reduced</name>
      <anchorfile>namespacebuild-reduced-model.html</anchorfile>
      <anchor>a748cda30d75673e225d347afd44f23ed</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>capsule</name>
    <filename>namespacecapsule.html</filename>
  </compound>
  <compound kind="namespace">
    <name>capsule-approximation</name>
    <filename>namespacecapsule-approximation.html</filename>
    <member kind="function">
      <type>def</type>
      <name>approximate_mesh</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a49a137b6c93a59b423d89b9f2db9a7c6</anchor>
      <arglist>(filename, lMg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>capsule_approximation</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>aecca4302a451b8011aba8c2c55334fdf</anchor>
      <arglist>(vertices)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>capsule_volume</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a8b8113d8d580d21817fd28a615dece09</anchor>
      <arglist>(a, b, r)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>distance_points_segment</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>ab0c81edeafa24709d28c82955d88a5e5</anchor>
      <arglist>(p, a, b)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>parse_urdf</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>ab1f77422ae7a054da748dec6fdbd0f77</anchor>
      <arglist>(infile, outfile)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>pca_approximation</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>ab391330c6dcae29e50971c7e7a134d46</anchor>
      <arglist>(vertices)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>CONSTRAINT_INFLATION_RATIO</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>addccd27288dac4c7709f003411fc2aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>EPSILON</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a09ff3c14bb3d5f8d030694d067402cb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>a509f6e8cb7abc99b8a7e0df4767cf322</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacecapsule-approximation.html</anchorfile>
      <anchor>aa082a657db24465893763381094f0f3c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>casadi</name>
    <filename>namespacecasadi.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>operator||</name>
      <anchorfile>namespacecasadi.html</anchorfile>
      <anchor>a75a1a4c79d47adf546bbfa91b60ccef2</anchor>
      <arglist>(const bool x, const casadi::Matrix&lt; SXElem &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>collision-with-point-clouds</name>
    <filename>namespacecollision-with-point-clouds.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_data</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a0a1334c2dc14b0dcf398f44841414160</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a55786599a4061f2415d09a712995c099</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_pair</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aee03e53e7cdeabd7509b1342e8ba05ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae99627a3be093aa39cd2abfc8e726566</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometry</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a17e41344688f08d32628127188289161</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>go_height_field</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ab0dc0b3e344935b5e74f7d16eacf9a66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>go_panda_hand</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a298b12137e85e72080dc79c9ff433c36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>go_point_cloud</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a85f48adb2ebb9a52917a6fcdfeda2b60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>height_field</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af32aecddf66e6d6bebdb53998c7efac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>height_field_collision_id</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aa2aebcef7508a1dbcef8787e3899a92c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>height_field_placement</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a46337b8290c39aa37422097cc5fdeeb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>heights</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a9f526e87edb0967262e704f43352fb12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>is_collision</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a8a2b106960aaf8716b633343339f006c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a075d1c6b81145c307e816f965dcce98b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a8500c7038ea41651a35113bb70de9770</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae12292bd9040e3e0428c37589f2743a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>adec534d88e1334fde420f786ec73c414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_points</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ad4199fb80d630204378e2417f4528026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nx</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ab54a11ec2a6be3a99b8d7f692f5f668d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>ny</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a0fc49cc6d62548cd176a92b7294fbe11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>afd3f5738ff81a21693a69949fb880986</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>panda_hand_collision_id</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>abd5753e1f54d59e992e85174a938fff8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ad0bbc4ebd4058d27a8c5d235a8a267f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>point_bins</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af84513e2d3bebb02e4fa796045db6c0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>point_cloud</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>abe5074f5705066228720433933694e2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>point_cloud_placement</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a2517691849238b0328e23d222526d029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>points</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a03dd45b91dabe501a026c15a74b4427b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a8fef9b38954a6ec7a1900a85e0794a46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af5dac26ebde27c65be56ce8b4b511a40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>translation</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>af31ee63a617998c6bc9d1e426e575912</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a72516649ff13ab83df67319c415d4d1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aaab05abffb61ffc2fa8b72c8ac74bb25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae75751339679c985da1772bd811cd97b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ae21f8ede327b0d0c58a2fb4fde93ee97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>X</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a6fd71c91e14d21b3347f2cfff876c5bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_bins</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aba6443d943bfe20f5459447bad825400</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_dim</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>aa98f470f35ac45d28fcc12b79b4779c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_grid</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ab04e8f38022ef40931f2a747b4386627</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x_half_pad</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a1a13d8090e7faf6584c549db03d5770b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a29d5c53cf2c02f622be33dd23440fd9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_bins</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a1475c4e318e9b571a526c006076fe4fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_dim</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a736f5af3f045e975aa2430f3b18631a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_grid</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>ad9032dfb9b9bb3c56938ff0e282f8bc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>y_half_pad</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a1f68b8bfb8edfcbc4696224d3d80b904</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Z</name>
      <anchorfile>namespacecollision-with-point-clouds.html</anchorfile>
      <anchor>a2ebb600fcb9fb17db163011ea90c55b2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>collisions</name>
    <filename>namespacecollisions.html</filename>
    <member kind="variable">
      <type></type>
      <name>cp</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a39c357746117f951047dc1e66bd8ea2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cr</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a734360d97e35178d716ea01432d42af3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>af8b5067e88af871bdf2ba098c121cb29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_data</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a01d76977c4f32ff40c751f5dc8063ee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a51f19dc9cf977e350acb6fe3cfa2b5d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a0d31e6eb4d8484677ee36b978dfd2f4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a8fbc6abd831afeac5dac021fd8b8dc5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>af4fd0cfc75037615605e4d3acc59d631</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>ad6ea61a55ebef58308b352fcd6be301b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a677ff64a7484755f9ca89b8d9a0a37bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf_filename</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a9951dcf873cc39527b40427b16fd17b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf_model_path</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a35e028cce93623208e51bf22cb0049fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a40cb359e904f8b6b8d32d8cab7d4c5af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacecollisions.html</anchorfile>
      <anchor>a829b70f9b357e9e2f06f711454305806</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>compile</name>
    <filename>namespacecompile.html</filename>
    <member kind="variable">
      <type></type>
      <name>builddir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a33dadec18c25298e240fb548f97a810d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comp</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a4cf5d6b0ce4e98e41539a25339052088</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>doraise</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ac1d4ef7f8831ee0e882d8f2d661c6c73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a46be63463291fe312cb52b5643ad6c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ad462a24edb35c4e395d20b7721d7ade7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>srcdir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>aa32ae4057633ade75c7ac4e3ab300d88</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>continuous</name>
    <filename>namespacecontinuous.html</filename>
    <class kind="class">continuous::PolicyNetwork</class>
    <class kind="class">continuous::QValueNetwork</class>
    <class kind="class">continuous::ReplayItem</class>
    <member kind="function">
      <type>def</type>
      <name>rendertrial</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a2ffc34118e249424be9ac308c862f8a8</anchor>
      <arglist>(maxiter=NSTEPS, verbose=True)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a14683444f6a9ac955aeb2d26135cf1c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>BATCH_SIZE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a9a737fb65620843104c1dcbdc529fb69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>d_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a5fba204bfb8613b44ccfe656aabcd095</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DECAY_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ae9b56af11a7d5915e41c6155ae773681</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>done</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ab7d1e0f269be106d9430f0db372e0a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a83e090fab86c167a9a6b14ecabb2aa84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>feed_dict</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a37c990174d4fbae20fb66f5361ca4e3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_qva</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a04aca646d7c72d13b1007827b74c08c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_rwd</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>acd017b4a8a9d5179584f205838520a95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_ste</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ab8376f7a0647e76845db03c1ac9e9b76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxq</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0156016de155ed839166b390f6e267d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>n_init</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>aba57965870ed1aecfd7dd894014e0b7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEPISODES</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a053e5ceea6030470cd4d681edc3ab512</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NH1</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a4c29c1c4e3fb39cee23a62e313208ad6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1e6f4ad11da874d7e667a2caeb8d5d7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NU</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ac9347a95f5d2d4025158b34d69fcd73a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NX</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a875abed6f0b9efa340aa3383c731e66c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>abd45bbf20af6d5f1aadb7e23ed04d10a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>policy</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a060d518d43d951a24cc7fe7bbbdfb05f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>POLICY_LEARNING_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a76e1b33d7aa9db8acf9e45574461c28c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>policyTarget</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a7ca0e1edb22141367dd6ef8a53f6dfc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q2_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0a74a708d49137cbd5721ee1514257b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qgrad</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ae5782c473508d88423fe790aaa6d8a9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qref_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>afad4d392bf44ab17374f686486aaab12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalue</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1b7baf204a9b28e78fd0774d3cccbb9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>QVALUE_LEARNING_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>aea5d77199ff3f5a40d6aebe80be91082</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalueTarget</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>adb6230bdead4902a4f8de433de41c856</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a3472f1e615ddec36fc9ce83eea5aa3d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a641e2e5300e139a6195f67dcad0daf22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RANDOM_SEED</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a972dee9cc034de0ea7f7b70c7461d04d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>REPLAY_SIZE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0642f843493a98367f931fb091b214c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>replayDeque</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a886577f213ed92714c4beffadd61f5e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rsum</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>acd983977031c8a76d3ff3ff8f63dfb16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sess</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a99e5f4eb2c952bbbfe53b74bfc5eb0c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a70ccb63cdd796f1d4c1417a22d0cb926</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u2_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a092ffcc0970b4c0b7071e281c526f77a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>acb167aa702e543041320e6b51cf581d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u_init</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1709c435182898c1ee40401aff715ce6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u_targ</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a7b17893db78646875e4b8e53abd86990</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>UPDATE_RATE</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>af29b2f9a4a4741dfbb6243a1af889cd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>withSinCos</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a6f5345532d24fa63a78ec75609c4469d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>ad5db6a9e8b69da29c3da64a27907f789</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1597083fab9d87e1afff3afbfdd4bd67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a0fd04495716c1d5cd6699e9b63ec4659</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_batch</name>
      <anchorfile>namespacecontinuous.html</anchorfile>
      <anchor>a1652ebe5c86e27e5b773b873fa1f4f9f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>CppAD</name>
    <filename>namespaceCppAD.html</filename>
    <namespace>CppAD::cg</namespace>
    <member kind="function">
      <type>AD&lt; Base &gt;</type>
      <name>abs2</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a9268fed7859d2b2da1ae2e65632dcb56</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>const AD&lt; Base &gt; &amp;</type>
      <name>conj</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a23834329688bd145b4ad9864371a3c12</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Base &gt;</type>
      <name>imag</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a5c293e2bde2d2499431b979074d4f351</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isfinite</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>aceeebaf1cabca41d93276316166f1ef5</anchor>
      <arglist>(const AD&lt; Scalar &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Scalar &gt;</type>
      <name>max</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a39fbcd1e6f061fea98cc1fc398eb83d7</anchor>
      <arglist>(const AD&lt; Scalar &gt; &amp;x, const AD&lt; Scalar &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>AD&lt; Scalar &gt;</type>
      <name>min</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>a8e858d59c87747a06bb671f3a3f90cfc</anchor>
      <arglist>(const AD&lt; Scalar &gt; &amp;x, const AD&lt; Scalar &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>const AD&lt; Base &gt; &amp;</type>
      <name>real</name>
      <anchorfile>namespaceCppAD.html</anchorfile>
      <anchor>abe95dcb729610b27bf89d5cd86d08fa5</anchor>
      <arglist>(const AD&lt; Base &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>CppAD::cg</name>
    <filename>namespaceCppAD_1_1cg.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>isfinite</name>
      <anchorfile>namespaceCppAD_1_1cg.html</anchorfile>
      <anchor>a8d59b45551502c28e5f32033b6dc8fc1</anchor>
      <arglist>(const CG&lt; Scalar &gt; &amp;x)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>dcrba</name>
    <filename>namespacedcrba.html</filename>
    <class kind="class">dcrba::Coriolis</class>
    <class kind="class">dcrba::DCRBA</class>
    <class kind="class">dcrba::DRNEA</class>
    <class kind="class">dcrba::VRNEA</class>
    <member kind="function">
      <type>def</type>
      <name>hessian</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a82980ae7bcc17d55b778ebd015fbb4e5</anchor>
      <arglist>(robot, q, crossterms=False)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>aq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>aba9eed11b17e5fcd68a6a52339f61c40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>C</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>acde17e5dfb51c925801d9509a865b6b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>coriolis</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a5713615b571f1ec84fd5153c416bf8d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dcrba</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a96e7acebec78e7214d827c0cc82508d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dM</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ab6cfa9ef31a60a3e343696f3796d454c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a6bb00d08ccf0354c82a0264b68ae805d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>drnea</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a008ac147ee9188827df1905e0b19cb21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>eps</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a0c3f7d8217ab708e35b4ec860bc633d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gravity</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a81f3f9b893b4896bc4593532b6d4a3f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>def</type>
      <name>H</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a24828097d4f3cb0575bca1efcb85a6d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Htrue</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>aa71e695f5825e8dfe0f2f8aed1451fd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mp</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ac1c47116e44c326f197972dadae155fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NV</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a16d52504983e300b1ccc83645c3d96ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a7c700cd16e0944cb2127c605a83e90d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a095d1750f876a560495585f60a489eea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qdq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a9e6efc25ec0919ebbf06144b64876a5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ad0fdb04c8661aece3715992b26267bbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>r0</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>ae395b317085bc74c1fba2d4a0f89010c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Rd</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a618c30c8a2bafb8062398379bf510f7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rnea0</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a53a7150d5494236a935e69766739a312</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a57e4e53c0569f859e66368ff3f1c1299</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vq</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a9970c515a4fd997b1e601b31c38a94e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>vq1</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a5829cede1da81449db1f864f31b02f7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vrnea</name>
      <anchorfile>namespacedcrba.html</anchorfile>
      <anchor>a011a002e79101dc1595cd684dc65c435</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>display</name>
    <filename>namespacedisplay.html</filename>
    <class kind="class">display::Display</class>
  </compound>
  <compound kind="namespace">
    <name>display-shapes</name>
    <filename>namespacedisplay-shapes.html</filename>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a75fd43cbf011f5070aea2845d6960e89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a7bb8834b6c9b2d9a6ad70754a639a0e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_obj</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a65576d108220872c7d2c3fd5d39d3474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>geometries</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>ac1ee08637cbb2b8724fff0d7be950475</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a0509316d2c0e74591fb8ba48e215fc09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>a0721b798c0dfafdb91090d966831d4b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>abd79ffcaa967d810a47a2cfbcdbfc85e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacedisplay-shapes.html</anchorfile>
      <anchor>ac7f4b6ce5d7523a49350944584bfadc5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>display-shapes-meshcat</name>
    <filename>namespacedisplay-shapes-meshcat.html</filename>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a5e94c2ffe6c480083f99f3613c13597e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a3b14692dc2fcaaec91534ce2c2bbd5dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_obj</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a14b4efdf258e4e8180dd8472a2f757f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>geometries</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a868017681deb2c188867eacd36e38002</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a6be1550da550ba3a7751ace503ae5001</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>abbe390ac1cec92b3928d5479bf7a54b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>aad60dfe00c95dd7f5c714d860eda6f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>a0731db2c6f9dd077f7ee221cfe77f94d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacedisplay-shapes-meshcat.html</anchorfile>
      <anchor>af8a3785dbed005ec071883827419f104</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>dpendulum</name>
    <filename>namespacedpendulum.html</filename>
    <class kind="class">dpendulum::DPendulum</class>
    <member kind="function">
      <type>def</type>
      <name>c2d</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>afe15a62105c55c211f22bafa0f93c392</anchor>
      <arglist>(qv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>c2dq</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a965c5c0553780b0be93b72d256f9d07e</anchor>
      <arglist>(q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>c2du</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a56befa754568d60ff78bacf9baecf088</anchor>
      <arglist>(u)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>c2dv</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a99cf412803dea8c8778b3734392cea95</anchor>
      <arglist>(v)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2c</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>abaf6cef2e235dc9271602291bcb48963</anchor>
      <arglist>(iqv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2cq</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a06972507a6ac7e98228aa244db5f6d98</anchor>
      <arglist>(iq)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2cu</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a85dca53257ddfca449df93492e1f6214</anchor>
      <arglist>(iu)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>d2cv</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a70e716b0b8ffba8e28094b27143b6f04</anchor>
      <arglist>(iv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>i2x</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>aeec6c10bbced350edcbaeb5653526ccd</anchor>
      <arglist>(i)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>x2i</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a226c0e0fb5b00ac1cdfe04a881437aa4</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DQ</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a72c7c6e68fdf11cef73021eed3ee0328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DT</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ac6925ae9f65908794e071207bd0cd20b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DU</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>add636dc3b7cf1e7208753a46df4dded7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DV</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ad61179e1cb946b431ee6433e55823746</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NQ</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a61e2b17ae1c2bc64305969c565b3911f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NU</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>afc2c748ecc10b201f0e9ea6ba6707209</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NV</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ae19b279c9a2a00c57c463f9919e4e9b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>p</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>ae558d9250a26ead2b6f06ee71f490dcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>UMAX</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a3a091ad71f6d7a5135ec39e970cf43ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>VMAX</name>
      <anchorfile>namespacedpendulum.html</anchorfile>
      <anchor>a13ee4ceb492a6bbab6d860ce227834b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>Eigen</name>
    <filename>namespaceEigen.html</filename>
    <namespace>Eigen::internal</namespace>
    <class kind="struct">Eigen::array</class>
    <class kind="struct">Eigen::NumTraits&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">Eigen::NumTraits&lt; CppAD::AD&lt; Base &gt; &gt;</class>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceEigen.html</anchorfile>
      <anchor>a961d19f3829903b9df001714ebef5fd2</anchor>
      <arglist>(const array&lt; T, n &gt; &amp;lhs, const array&lt; T, n &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_DEVICE_FUNC bool</type>
      <name>operator==</name>
      <anchorfile>namespaceEigen.html</anchorfile>
      <anchor>a20919b15d3306d9d2e70b5698cd0b895</anchor>
      <arglist>(const array&lt; T, n &gt; &amp;lhs, const array&lt; T, n &gt; &amp;rhs)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>Eigen::internal</name>
    <filename>namespaceEigen_1_1internal.html</filename>
    <class kind="struct">Eigen::internal::cast_impl&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;, Scalar &gt;</class>
    <class kind="struct">Eigen::internal::cast_impl&lt; casadi::SX, Scalar &gt;</class>
    <class kind="struct">Eigen::internal::cast_impl&lt; CppAD::AD&lt; Scalar &gt;, Scalar &gt;</class>
    <class kind="struct">Eigen::internal::cast_impl&lt; CppAD::cg::CG&lt; Scalar &gt;, Scalar &gt;</class>
    <class kind="struct">Eigen::internal::conj_impl</class>
    <class kind="struct">Eigen::internal::conj_impl&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;, true &gt;</class>
    <class kind="struct">Eigen::internal::conj_retval</class>
    <class kind="struct">Eigen::internal::conj_retval&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</class>
    <class kind="struct">Eigen::internal::scalar_product_traits&lt; boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt;, boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt; &gt;</class>
    <class kind="struct">Eigen::internal::scalar_product_traits&lt; boost::multiprecision::number&lt; Backend, ExpressionTemplates &gt;, boost::multiprecision::detail::expression&lt; tag, Arg1, Arg2, Arg3, Arg4 &gt; &gt;</class>
  </compound>
  <compound kind="namespace">
    <name>example_robot_data</name>
    <filename>namespaceexample__robot__data.html</filename>
    <namespace>example_robot_data::__main__</namespace>
    <namespace>example_robot_data::robots_loader</namespace>
  </compound>
  <compound kind="namespace">
    <name>example_robot_data::__main__</name>
    <filename>namespaceexample__robot__data_1_1____main____.html</filename>
    <member kind="variable">
      <type></type>
      <name>action</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>af75471d2c57a1532043da9e5e15efb0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>args</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a40d987750ea5df800450d2af452a53d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>choices</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>aa72f2a8c2291b56d0ed90d2d5da261a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>default</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a71fae130f788ad9c874a3c2878f6766b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>display</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a390f102568ed0ab7d09e1c08fc33f060</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nargs</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a7d9190b9da927f8bbb1f8a7f30c75794</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parser</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>af4a8146debd965ab96d4719a3668e29c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>a14d3c6b37bad667bd044e86cd9095d1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ROBOTS</name>
      <anchorfile>namespaceexample__robot__data_1_1____main____.html</anchorfile>
      <anchor>aa71a50458e5ef967befaee099cb1c26e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>example_robot_data::robots_loader</name>
    <filename>namespaceexample__robot__data_1_1robots__loader.html</filename>
    <class kind="class">example_robot_data::robots_loader::A1Loader</class>
    <class kind="class">example_robot_data::robots_loader::ANYmalKinovaLoader</class>
    <class kind="class">example_robot_data::robots_loader::ANYmalLoader</class>
    <class kind="class">example_robot_data::robots_loader::AsrTwoDofLoader</class>
    <class kind="class">example_robot_data::robots_loader::BaxterLoader</class>
    <class kind="class">example_robot_data::robots_loader::BoltLoader</class>
    <class kind="class">example_robot_data::robots_loader::CassieLoader</class>
    <class kind="class">example_robot_data::robots_loader::DoublePendulumContinuousLoader</class>
    <class kind="class">example_robot_data::robots_loader::DoublePendulumLoader</class>
    <class kind="class">example_robot_data::robots_loader::DoublePendulumSimpleLoader</class>
    <class kind="class">example_robot_data::robots_loader::FingerEduLoader</class>
    <class kind="class">example_robot_data::robots_loader::HectorLoader</class>
    <class kind="class">example_robot_data::robots_loader::HyQLoader</class>
    <class kind="class">example_robot_data::robots_loader::ICubLoader</class>
    <class kind="class">example_robot_data::robots_loader::ICubReducedLoader</class>
    <class kind="class">example_robot_data::robots_loader::IrisLoader</class>
    <class kind="class">example_robot_data::robots_loader::KinovaLoader</class>
    <class kind="class">example_robot_data::robots_loader::LaikagoLoader</class>
    <class kind="class">example_robot_data::robots_loader::PandaLoader</class>
    <class kind="class">example_robot_data::robots_loader::RobotLoader</class>
    <class kind="class">example_robot_data::robots_loader::RomeoLoader</class>
    <class kind="class">example_robot_data::robots_loader::SimpleHumanoidClassicalLoader</class>
    <class kind="class">example_robot_data::robots_loader::SimpleHumanoidLoader</class>
    <class kind="class">example_robot_data::robots_loader::Solo12Loader</class>
    <class kind="class">example_robot_data::robots_loader::Solo8Loader</class>
    <class kind="class">example_robot_data::robots_loader::TalosArmLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosBoxLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosFullBoxLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosFullLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosLegsLoader</class>
    <class kind="class">example_robot_data::robots_loader::TalosLoader</class>
    <class kind="class">example_robot_data::robots_loader::TiagoDualLoader</class>
    <class kind="class">example_robot_data::robots_loader::TiagoLoader</class>
    <class kind="class">example_robot_data::robots_loader::TiagoNoHandLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR10LimitedLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR10Loader</class>
    <class kind="class">example_robot_data::robots_loader::UR3GripperLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR3LimitedLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR3Loader</class>
    <class kind="class">example_robot_data::robots_loader::UR5GripperLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR5LimitedLoader</class>
    <class kind="class">example_robot_data::robots_loader::UR5Loader</class>
    <member kind="function">
      <type>def</type>
      <name>getModelPath</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>a3243150d85fb3ca172d7632c01631ac9</anchor>
      <arglist>(subpath, printmsg=False)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>load</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>a39acc932b84878d487c5dccccbb38e85</anchor>
      <arglist>(name, display=False, rootNodeName=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>load_full</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>aba25f8885365bb7a2227aece2d1a3385</anchor>
      <arglist>(name, display=False, rootNodeName=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loader</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>aff38e12e59e4d8e828cce1f1f2aa2a2f</anchor>
      <arglist>(name, display=False, rootNodeName=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>readParamsFromSrdf</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>a0ddae50221be127d034d3372642b304f</anchor>
      <arglist>(model, SRDF_PATH, verbose=False, has_rotor_parameters=True, referencePose=&quot;half_sitting&quot;)</arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>ROBOTS</name>
      <anchorfile>namespaceexample__robot__data_1_1robots__loader.html</anchorfile>
      <anchor>aff074b015e8b853f831a1b1deae9d0bb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>explog</name>
    <filename>namespaceexplog.html</filename>
    <class kind="class">explog::TestExpLog</class>
  </compound>
  <compound kind="namespace">
    <name>factor</name>
    <filename>namespacefactor.html</filename>
    <class kind="class">factor::Factor</class>
    <class kind="class">factor::FactorGraph</class>
  </compound>
  <compound kind="namespace">
    <name>foot_steps</name>
    <filename>namespacefoot__steps.html</filename>
    <class kind="class">foot_steps::FootSteps</class>
  </compound>
  <compound kind="namespace">
    <name>forward-dynamics-derivatives</name>
    <filename>namespaceforward-dynamics-derivatives.html</filename>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>ac2290478b3638683ce658660046e8478</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq_dq</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>ae940b2a03d87eea8f92931b1ac6bb9b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq_dtau</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a1f31e9e024898db4dfdf611be4af18e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddq_dv</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>ac40a6bd43d5ed2c307cc6b682c06ece7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lowerPositionLimit</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>afdbab5d23753824a0a1c1d0d39e528d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a0c15542034213c698e2a8c27417803a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a2070facbc9496b50eb4c38b3b638b48b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a9e58f90f9152b13f79ffab55fc513d5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>upperPositionLimit</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a6bc80c58075587d3991192fd1b2a6b9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceforward-dynamics-derivatives.html</anchorfile>
      <anchor>a79b3714b0efa2ecadada38a97dbfe00d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>geometry-models</name>
    <filename>namespacegeometry-models.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_data</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a3eea5274f5f3f29da4f77620007d6dc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a0c8cb0ddb7984cae293bdb3c5eff6ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a8d139834ed27983ebc6fdd5f48830164</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a095423623afb065d8b9e2712a9ec2fae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a71a75e4ea5c93b61980a5d11f4a15c57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>model_path</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>af67c44518120146464a2cb5cb3c54dfd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>afc1f49efb7b969d2ef2be984ad7f4087</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a9d42eed7e6eaa09e2de476716cfca3f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a387bd071911fa186d68b9b977cd8e1ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_data</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a9e471924729fd588a2e268898129af6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacegeometry-models.html</anchorfile>
      <anchor>a7f7fbc379b0fbd67e0fb8c0b5b649678</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>gepetto-viewer</name>
    <filename>namespacegepetto-viewer.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>afb583bda5624aa98b19deca60b4b1e54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>af567af3775a81f9db1403fdca4bafb9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a2869923b33188020e6c8ee4dd2efb4f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a423bcbb1755bb16dee6e89b2c0dd78fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a8745650fc75b3f93b25e94281b26248d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a368fc38d19aa81a8a384ab1e03c3d98a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a88e388dcfa85d8381e653181a3e240cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a59867aab9213dd2b35c5040209b330a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a0621b70be6f479e024233518bca4e854</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a7097c9c692a13554b64997be7b7f87a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>acb54008b61946bc549a58da0d15314bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>a01dc12345f347d9826d0c289d75658ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz2</name>
      <anchorfile>namespacegepetto-viewer.html</anchorfile>
      <anchor>ad55ffb6aa9281e1018ca2d4dec511413</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>git-archive-all</name>
    <filename>namespacegit-archive-all.html</filename>
    <member kind="variable" protection="private">
      <type>string</type>
      <name>__version__</name>
      <anchorfile>namespacegit-archive-all.html</anchorfile>
      <anchor>adffa1c135f4c9da96a0d96e9f0a7a578</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>graph</name>
    <filename>namespacegraph.html</filename>
    <class kind="class">graph::Graph</class>
  </compound>
  <compound kind="namespace">
    <name>inverse-dynamics-derivatives</name>
    <filename>namespaceinverse-dynamics-derivatives.html</filename>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>ad83b94c20ea214d43b73beac32af1ca4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a6895bbc80e275d5ff7dd3bdccf033580</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dtau_da</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>ac930ae599b0f0a8bd283451c3ebf7b0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dtau_dq</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a98dbdc45e2b2c7bb1972f353894329d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dtau_dv</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>ab7033117287e1566231c7aa9adec6f66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lowerPositionLimit</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a2823bc506e33ad56aec0e79bf29d9f6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a903610eb3c2e78c90b2fd62bd4044477</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a6127bac6211bf377769de2796fda904f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>upperPositionLimit</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a4568436a5d3cbd7dfa44060c61f2226d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceinverse-dynamics-derivatives.html</anchorfile>
      <anchor>a47060e7b57ca9d5c77f7e1696d7b36c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>inverse-kinematics</name>
    <filename>namespaceinverse-kinematics.html</filename>
    <member kind="variable">
      <type>int</type>
      <name>damp</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>ab6293f114ac2a594c065b3e9ac734c23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a0552e87ad693ddd553b88af7f505b48e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DT</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>aa4ee9d6603659222590c2a70215c1e9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>eps</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>acffb4f1223dc7f08bc7b91ecb7ab1297</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>err</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a16d689e8c268942197ea83658883c47c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>i</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>addf98c3a93c8d858c974d1ec73d25b6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>iMd</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a4bae516c9b620a4b8eb6ffaa5b1d2605</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>IT_MAX</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a49add34ab22b5036d4bfb25324594826</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>aba2d96ba9b39ff61dee37fa3de1230c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>JOINT_ID</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>ad661f7dbc854d0a8f711dc7b1009829d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a2fe10bfa1d3eee12a0bd2643e54af595</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>oMdes</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a3793badfbc6690ac472be4fff86facae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a6d32daa4a278b51b6367b3f2bdf9742e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>success</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a08796bad50354990ca8892e5ab0512f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceinverse-kinematics.html</anchorfile>
      <anchor>a5b6411bd96053f6851b41768d1f36551</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>kinematics-derivatives</name>
    <filename>namespacekinematics-derivatives.html</filename>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>af0b392bc698cad13dbb81db9f93b67f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_da</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a0213bab410d264bcc2cb2504194365ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_da_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a8b194877340e96649a2ba19626ee4ab1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dq</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>ab17ecc258348c2fb15d770ba12b402f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dq_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a172e0b5bc41431b6a2c526f6e9190c8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dv</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a31de0b3af4bf085e16fcba46d7fbe78a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>da_dv_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>aa66a17deea08b9e5c16959068ef2b14d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>af0373955294f182e5e1e5abd72a4310e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dq</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a7f7ba546aae2c526dcbedd6330998ecb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dq_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a78977a42ad9dc2f6255e730fdd7e0ca2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dv</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a4e214cfa5168c0853cc266d353031e1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_dv_local</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a62ece6722503774a63d5746abe1e3134</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_id</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>aa5ebf5590c6db646a32c07832b8e5984</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>joint_name</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a2f2c76712b4d32e34905c401f849d9a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lowerPositionLimit</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a217c298eaeff85da72bfca79b1be09fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a4332f5a7a8a0212005b769c3f16e6ab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>af0500b0ba682cb0386b3b946f8dd3884</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>upperPositionLimit</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a7f2e65f080ae108c3c5692354645668c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacekinematics-derivatives.html</anchorfile>
      <anchor>a3b9f47f0c257ea3e6991576b98983d24</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>lambdas</name>
    <filename>namespacelambdas.html</filename>
    <class kind="class">lambdas::ancestorOf</class>
    <member kind="function">
      <type>def</type>
      <name>jFromIdx</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a325345afd28c0a45f5aa7e599b340894</anchor>
      <arglist>(idxv, robot)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>np_prettyprint</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a1bdf825ef4552a94e224c9bf57a862c0</anchor>
      <arglist>(sarg=&apos;{:0.5f}&apos;, eps=5e-7)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setRobotArgs</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a30cef30efe09b94c121dccb7a521d879</anchor>
      <arglist>(robot)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>__doc__</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a238586ddc4f4b35d698d9a8841be86bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>adj</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a45f246cd70fff34da972309a67ac7821</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>adjdual</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ac9549673e45c42b2105625c487bbbe28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>ancestors</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ae41a640e1badcbca9b7675d8ddc775ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>descendants</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a60e9153cb28ad4f1418c2b5921ca161a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Fcross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ab9c80cc24096eeef438f9021de7d60c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>FCross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>ab71f25d542a8d777d1c8024175acf0d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>iv</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a6dca6fcce548bc928f3cda132de521d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mcross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>abff124d09312aa24c79aa34a2936fc77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>MCross</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a4addb7316b64febf9a214ca489088c8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parent</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a9ceb301fea2cc0670e45427cf44c5a83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>quad</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>a14400ff1cc2e31261303a25f88933c4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>td</name>
      <anchorfile>namespacelambdas.html</anchorfile>
      <anchor>adcbbbabbd0e15dd3d77cc6f98d06ae7f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>meshcat-viewer</name>
    <filename>namespacemeshcat-viewer.html</filename>
    <member kind="function">
      <type>def</type>
      <name>my_callback</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a0aa221830b848877f847000643bd9ea1</anchor>
      <arglist>(i, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>sim_loop</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>aa5fbe795834d5681d0b56a76a0923884</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>callback</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a86833999228e2c5eec3ffd4f844f5ec6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a853009e23779c9e6aba5480ae5594e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>convex</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a5d953a14e80d697bbd11baee448ffd60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>acc5b2bc6ca969667330854f9e5d2401d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a9621249de2820b1e706f91c92c05eaac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fid2</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a42dfc255ec4bdf5e3d09371fd6386e7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a9bbf4c93c61404c15dfb6366c34ea7f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometry</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>af511510858766f9de12cedd52a545355</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a5f068d5001715fb2ea3065d9d3b9db94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ab8cbbfd4f1a82770e23d188e31ef44c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a5f1d7bb519eb51c1f4fdecedfef8e300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a870ac4311365a35a47ae7e85f983872b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>afa2a384039dd1e8bfd5129ae2177ffe8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>aa007aaf3d7ed30dbd0fb5f857d53ff6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a1a01145e0ba4595ebf146f02f1c46618</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>placement</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a79da7fb0f8d920054dae40528820cd77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a7b3b5f09d6bfba166f34dbc46f672313</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a0308db501bc72c72f308ed28b1bb625c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q1</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a461b177afa02170402974b7945a0ee09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qs</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ac27faec606cc3d69c2f902bcc3e7d8f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ae61aadfcffbf784762bb68c6d582fce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a4195f62a15c6549a00f73bfb784071d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>ae5eb38c88c5226353034a45b019e1edc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>v0</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>aeaca26e4ad3fc0e26ab7fe80423f8d2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>affbdc2f4de78dada32ad530e8ed8dcd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a8dc7c7b9f372685e52a4c713ce5d6d9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz2</name>
      <anchorfile>namespacemeshcat-viewer.html</anchorfile>
      <anchor>a4583a9e0262f59e194eb13ce527b2418</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>meshcat-viewer-dae</name>
    <filename>namespacemeshcat-viewer-dae.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a53c9b20f02687cbd9d853b474193a3f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>aa3fbdc84208af2f53b59c84cbac529ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a5ab3d06c586e067466d2bbfcae479b60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshScale</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a2003a05fca57889090f625ccbc7afb7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a893987cacd5a197c197159bec2c8ade7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ac1fbe3e1a03acbe7e5308f045d9ce494</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>open</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>afeed1fde45880c1649f93efa1a48fd86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>aac984fc8a9dbfc83f0cd04aa3999e123</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>aef42c42200b8fc66e2e75dcccf70bf4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ab86eb1209c0b837ed583da0240459aa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>red_robot_viz</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a3c82af5e027cb3e05ed1b2a4d844ee9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ae671324714df6d2fc8e75e07ee1af837</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>af7cebc286fd3290af2ab9797e3a874f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ab1d612b176d2ff49bcaea42da27091cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a78a1a505e78a59d60baaab74cb4c1006</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>a3be25a4798d3a3d167fb3e289ac423a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacemeshcat-viewer-dae.html</anchorfile>
      <anchor>ad9b5413be874e181292d40871baa311f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>mobilerobot</name>
    <filename>namespacemobilerobot.html</filename>
    <class kind="class">mobilerobot::MobileRobotWrapper</class>
  </compound>
  <compound kind="namespace">
    <name>ocp</name>
    <filename>namespaceocp.html</filename>
    <class kind="class">ocp::CallBack</class>
    <member kind="function">
      <type>def</type>
      <name>cost</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>aa873f949e07d95cf86eb390c50e50255</anchor>
      <arglist>(U)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a16d8cbe689587a94654e6b15c6f90346</anchor>
      <arglist>(U, verbose=False)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>approx_grad</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a4861b91b67e92b07c2780a3f4bbbd820</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>bounds</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a4ccd53981cefdd96b33ede76970e137a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>c</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a2e45065ac8dab4517d812b1eda0adf37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>callback</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a6aaf92d0c686837ff276fb996cf97bfd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cost</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>ae4410bc79ea88f347711fd498d1bb1ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a9cc0904cf5d86b95b21e9b777d2a273d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>info</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a6dc4698cc745d49c047bd3691f51d5bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a34d594f77bc3eeef339c89cd24a7fa78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>True</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a3950b6ad410bc5efed96a8ee8b265b62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a3959ba524282512093c2daab1152e223</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U0</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a2263b6e9949719722c876f6038296b51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x0</name>
      <anchorfile>namespaceocp.html</anchorfile>
      <anchor>a00e7f895a4a5b19041d2fd2fceb75f02</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>omniidl_be_python_with_docstring</name>
    <filename>namespaceomniidl__be__python__with__docstring.html</filename>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_rreplace</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a00658253a6ea9db8c15734a6203df8d5</anchor>
      <arglist>(s, old, new, occurrence)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a4f20d940535423e21789e8f315cff827</anchor>
      <arglist>(tree, args)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>overview-simple</name>
    <filename>namespaceoverview-simple.html</filename>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>ae569527cb2cad74a49330d7dcb23c726</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>acf570485e356d96d85b4901779d8e45a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>a1c8fea87d9e76ace589078e3ce0bfaa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>abb9c5682c9bfb37e0652df7ed381f43d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>ac23531b86b2aeb04a00e98a198de05c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceoverview-simple.html</anchorfile>
      <anchor>aba3ccc6ae3eb082b43bcd599bfa8ff3b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>overview-urdf</name>
    <filename>namespaceoverview-urdf.html</filename>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a775eb8cca28b4cb4e4569826c21bdbe0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a4bc951dd53b1334fc9a2e671771497c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a80f304371f1046810ebe13c4d903a61a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a238fe607b500944f5674458871ed66b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespaceoverview-urdf.html</anchorfile>
      <anchor>a052d0c25fb8ab449cb5eafbdee8eb616</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>panda3d-viewer</name>
    <filename>namespacepanda3d-viewer.html</filename>
    <member kind="variable">
      <type></type>
      <name>group_name</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>aba4c59faedd9acc86e66f9ac983bc848</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>loaders</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a9ee925783eb8f2a29292735a47cc2f64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a196d5cf878b57994211da3f9cdcda202</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a7ea81c365f6177f2e3c8850771fa4a5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>a272197c37c8e8c831deb09ab9b1409e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespacepanda3d-viewer.html</anchorfile>
      <anchor>abcb8ce502697b70d86be3e02aa21f4ef</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>panda3d-viewer-play</name>
    <filename>namespacepanda3d-viewer-play.html</filename>
    <member kind="function">
      <type>def</type>
      <name>play_sample_trajectory</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a8d99f1c1e55df6d952c8be9c2c2baef8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a64727fe6d2c88183b963cc134ef364fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>group_name</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a6a5cd867e8e3b0050553648d6ad3dcac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>a7cb17d8f434e4c6b2318f5838809ce87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>talos</name>
      <anchorfile>namespacepanda3d-viewer-play.html</anchorfile>
      <anchor>ac25f3a5df2b0c9e2f8fdf52dd7b780a2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pendulum</name>
    <filename>namespacependulum.html</filename>
    <class kind="class">pendulum::Pendulum</class>
    <class kind="class">pendulum::Visual</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio</name>
    <filename>namespacepinocchio.html</filename>
    <namespace>pinocchio::buildModels</namespace>
    <namespace>pinocchio::casadi</namespace>
    <namespace>pinocchio::cholesky</namespace>
    <namespace>pinocchio::container</namespace>
    <namespace>pinocchio::deprecated</namespace>
    <namespace>pinocchio::deprecation</namespace>
    <namespace>pinocchio::explog</namespace>
    <namespace>pinocchio::fcl</namespace>
    <namespace>pinocchio::fix</namespace>
    <namespace>pinocchio::forceSet</namespace>
    <namespace>pinocchio::fusion</namespace>
    <namespace>pinocchio::helper</namespace>
    <namespace>pinocchio::impl</namespace>
    <namespace>pinocchio::internal</namespace>
    <namespace>pinocchio::lua</namespace>
    <namespace>pinocchio::math</namespace>
    <namespace>pinocchio::motionSet</namespace>
    <namespace>pinocchio::python</namespace>
    <namespace>pinocchio::quaternion</namespace>
    <namespace>pinocchio::regressor</namespace>
    <namespace>pinocchio::robot_wrapper</namespace>
    <namespace>pinocchio::romeo_wrapper</namespace>
    <namespace>pinocchio::rpy</namespace>
    <namespace>pinocchio::serialization</namespace>
    <namespace>pinocchio::shortcuts</namespace>
    <namespace>pinocchio::srdf</namespace>
    <namespace>pinocchio::urdf</namespace>
    <namespace>pinocchio::utils</namespace>
    <namespace>pinocchio::visualize</namespace>
    <class kind="struct">pinocchio::AlgorithmCheckerBase</class>
    <class kind="struct">pinocchio::AlgorithmCheckerList</class>
    <class kind="struct">pinocchio::apply_op_if</class>
    <class kind="struct">pinocchio::apply_op_if&lt; OP, true, default_return_value &gt;</class>
    <class kind="struct">pinocchio::BiasZeroTpl</class>
    <class kind="struct">pinocchio::CartesianAxis</class>
    <class kind="struct">pinocchio::CartesianProductOperation</class>
    <class kind="struct">pinocchio::CartesianProductOperationVariantTpl</class>
    <class kind="struct">pinocchio::CastType</class>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelMimic&lt; JointModel &gt; &gt;</class>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::CastType&lt; NewScalar, JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::CodeGenABA</class>
    <class kind="struct">pinocchio::CodeGenABADerivatives</class>
    <class kind="struct">pinocchio::CodeGenBase</class>
    <class kind="struct">pinocchio::CodeGenCRBA</class>
    <class kind="struct">pinocchio::CodeGenDDifference</class>
    <class kind="struct">pinocchio::CodeGenDifference</class>
    <class kind="struct">pinocchio::CodeGenIntegrate</class>
    <class kind="struct">pinocchio::CodeGenMinv</class>
    <class kind="struct">pinocchio::CodeGenRNEA</class>
    <class kind="struct">pinocchio::CodeGenRNEADerivatives</class>
    <class kind="struct">pinocchio::CollisionPair</class>
    <class kind="struct">pinocchio::ConfigVectorAffineTransform</class>
    <class kind="struct">pinocchio::ConfigVectorAffineTransform&lt; JointRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="class">pinocchio::ConstraintBase</class>
    <class kind="struct">pinocchio::ConstraintForceOp</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceOp&lt; ScaledConstraint&lt; Constraint &gt;, ForceDerived &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintForceSetOp&lt; ScaledConstraint&lt; Constraint &gt;, ForceSet &gt;</class>
    <class kind="struct">pinocchio::ConstraintIdentityTpl</class>
    <class kind="struct">pinocchio::ConstraintPlanarTpl</class>
    <class kind="struct">pinocchio::ConstraintPrismaticTpl</class>
    <class kind="struct">pinocchio::ConstraintPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::ConstraintRevoluteTpl</class>
    <class kind="struct">pinocchio::ConstraintRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::ConstraintSphericalTpl</class>
    <class kind="struct">pinocchio::ConstraintSphericalZYXTpl</class>
    <class kind="struct">pinocchio::ConstraintTpl</class>
    <class kind="struct">pinocchio::ConstraintTranslationTpl</class>
    <class kind="struct">pinocchio::DataTpl</class>
    <class kind="struct">pinocchio::EmptyForwardStepBinaryVisit</class>
    <class kind="struct">pinocchio::EmptyForwardStepBinaryVisitNoData</class>
    <class kind="struct">pinocchio::EmptyForwardStepUnaryVisit</class>
    <class kind="struct">pinocchio::EmptyForwardStepUnaryVisitNoData</class>
    <class kind="struct">pinocchio::eval_set_dim</class>
    <class kind="struct">pinocchio::eval_set_dim&lt; dim, Eigen::Dynamic &gt;</class>
    <class kind="struct">pinocchio::eval_set_dim&lt; Eigen::Dynamic, dim &gt;</class>
    <class kind="class">pinocchio::ForceBase</class>
    <class kind="class">pinocchio::ForceDense</class>
    <class kind="class">pinocchio::ForceRef</class>
    <class kind="class">pinocchio::ForceRef&lt; const Vector6ArgType &gt;</class>
    <class kind="class">pinocchio::ForceSetTpl</class>
    <class kind="class">pinocchio::ForceTpl</class>
    <class kind="struct">pinocchio::FrameTpl</class>
    <class kind="struct">pinocchio::GeometryData</class>
    <class kind="struct">pinocchio::GeometryModel</class>
    <class kind="struct">pinocchio::GeometryObject</class>
    <class kind="class">pinocchio::GeometryPoolTpl</class>
    <class kind="class">pinocchio::InertiaBase</class>
    <class kind="class">pinocchio::InertiaTpl</class>
    <class kind="struct">pinocchio::is_floating_point</class>
    <class kind="struct">pinocchio::is_floating_point&lt; boost::multiprecision::number&lt; Backend, ET &gt; &gt;</class>
    <class kind="struct">pinocchio::Jlog3_impl</class>
    <class kind="struct">pinocchio::Jlog6_impl</class>
    <class kind="struct">pinocchio::JointCollectionDefaultTpl</class>
    <class kind="struct">pinocchio::JointCompositeTpl</class>
    <class kind="struct">pinocchio::JointDataBase</class>
    <class kind="struct">pinocchio::JointDataCompositeTpl</class>
    <class kind="struct">pinocchio::JointDataFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointDataMimic</class>
    <class kind="struct">pinocchio::JointDataPlanarTpl</class>
    <class kind="struct">pinocchio::JointDataPrismaticTpl</class>
    <class kind="struct">pinocchio::JointDataPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataSphericalTpl</class>
    <class kind="struct">pinocchio::JointDataSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointDataTest</class>
    <class kind="struct">pinocchio::JointDataTpl</class>
    <class kind="struct">pinocchio::JointDataTranslationTpl</class>
    <class kind="struct">pinocchio::JointDataVoid</class>
    <class kind="struct">pinocchio::JointFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointMimic</class>
    <class kind="struct">pinocchio::JointModelBase</class>
    <class kind="struct">pinocchio::JointModelCompositeTpl</class>
    <class kind="struct">pinocchio::JointModelFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointModelMimic</class>
    <class kind="struct">pinocchio::JointModelPlanarTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointModelTest</class>
    <class kind="struct">pinocchio::JointModelTpl</class>
    <class kind="struct">pinocchio::JointModelTranslationTpl</class>
    <class kind="struct">pinocchio::JointModelVoid</class>
    <class kind="struct">pinocchio::JointPlanarTpl</class>
    <class kind="struct">pinocchio::JointPrismaticTpl</class>
    <class kind="struct">pinocchio::JointPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointRevoluteTpl</class>
    <class kind="struct">pinocchio::JointRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointSphericalTpl</class>
    <class kind="struct">pinocchio::JointSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointTest</class>
    <class kind="struct">pinocchio::JointTpl</class>
    <class kind="struct">pinocchio::JointTranslationTpl</class>
    <class kind="struct">pinocchio::LieGroup</class>
    <class kind="struct">pinocchio::LieGroupBase</class>
    <class kind="struct">pinocchio::LieGroupCollectionDefaultTpl</class>
    <class kind="struct">pinocchio::LieGroupGenericTpl</class>
    <class kind="struct">pinocchio::LieGroupMap</class>
    <class kind="struct">pinocchio::LinearAffineTransform</class>
    <class kind="struct">pinocchio::log3_impl</class>
    <class kind="struct">pinocchio::log6_impl</class>
    <class kind="struct">pinocchio::MatrixMatrixProduct</class>
    <class kind="struct">pinocchio::MatrixScalarProduct</class>
    <class kind="class">pinocchio::ModelPoolTpl</class>
    <class kind="struct">pinocchio::ModelTpl</class>
    <class kind="struct">pinocchio::MotionAlgebraAction</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; BiasZeroTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintIdentityTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintPlanarTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintSphericalTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintSphericalZYXTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintTpl&lt; Dim, Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ConstraintTranslationTpl&lt; S1, O1 &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ForceDense&lt; Derived &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ForceRef&lt; Vector6ArgType &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionDense&lt; Derived &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionPlanarTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionPrismaticTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionRef&lt; Vector6ArgType &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionRevoluteTpl&lt; Scalar, Options, axis &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionSphericalTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionTranslationTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; MotionZeroTpl&lt; Scalar, Options &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; ScaledConstraint&lt; Constraint &gt;, MotionDerived &gt;</class>
    <class kind="struct">pinocchio::MotionAlgebraAction&lt; SpatialAxis&lt; axis &gt;, MotionDerived &gt;</class>
    <class kind="class">pinocchio::MotionBase</class>
    <class kind="class">pinocchio::MotionDense</class>
    <class kind="struct">pinocchio::MotionPlanarTpl</class>
    <class kind="struct">pinocchio::MotionPrismaticTpl</class>
    <class kind="struct">pinocchio::MotionPrismaticUnalignedTpl</class>
    <class kind="class">pinocchio::MotionRef</class>
    <class kind="class">pinocchio::MotionRef&lt; const Vector6ArgType &gt;</class>
    <class kind="struct">pinocchio::MotionRevoluteTpl</class>
    <class kind="struct">pinocchio::MotionRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::MotionSphericalTpl</class>
    <class kind="class">pinocchio::MotionTpl</class>
    <class kind="struct">pinocchio::MotionTranslationTpl</class>
    <class kind="struct">pinocchio::MotionZeroTpl</class>
    <class kind="struct">pinocchio::MultiplicationOp</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::MultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::ScalarMatrixProduct</class>
    <class kind="struct">pinocchio::ScaledConstraint</class>
    <class kind="struct">pinocchio::SE3Base</class>
    <class kind="struct">pinocchio::SE3GroupAction</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; BiasZeroTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintIdentityTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintPlanarTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintSphericalTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintSphericalZYXTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintTpl&lt; Dim, Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ConstraintTranslationTpl&lt; S1, O1 &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ForceDense&lt; Derived &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ForceSet::Block &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionDense&lt; Derived &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; MotionZeroTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; ScaledConstraint&lt; Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; TransformPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; TransformRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3GroupAction&lt; TransformTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::SE3Tpl</class>
    <class kind="struct">pinocchio::Serialize</class>
    <class kind="struct">pinocchio::Serialize&lt; JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::Serialize&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::SINCOSAlgo</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; X_digits10, X_alloc &gt;, X_et &gt;, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; S_digits10, S_alloc &gt;, S_et &gt;, boost::multiprecision::number&lt; boost::multiprecision::mpfr_float_backend&lt; C_digits10, C_alloc &gt;, C_et &gt; &gt;</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; double &gt;</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; float &gt;</class>
    <class kind="struct">pinocchio::SINCOSAlgo&lt; long double &gt;</class>
    <class kind="struct">pinocchio::SizeDepType</class>
    <class kind="struct">pinocchio::SizeDepType&lt; Eigen::Dynamic &gt;</class>
    <class kind="struct">pinocchio::SpatialAxis</class>
    <class kind="struct">pinocchio::SpecialEuclideanOperationTpl</class>
    <class kind="struct">pinocchio::SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::SpecialOrthogonalOperationTpl</class>
    <class kind="struct">pinocchio::SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt;</class>
    <class kind="struct">pinocchio::SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt;</class>
    <class kind="class">pinocchio::Symmetric3Tpl</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion&lt; CppAD::AD&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::TaylorSeriesExpansion&lt; CppAD::cg::CG&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::Tensor</class>
    <class kind="struct">pinocchio::traits</class>
    <class kind="struct">pinocchio::traits&lt; CartesianProductOperation&lt; LieGroup1, LieGroup2 &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; CartesianProductOperationVariantTpl&lt; _Scalar, _Options, LieGroupCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintIdentityTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintPlanarTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintSphericalTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintTpl&lt; _Dim, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ConstraintTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ForceRef&lt; const Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ForceRef&lt; Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ForceTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; InertiaTpl&lt; T, U &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointCompositeTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataMimic&lt; Joint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataTest&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointDataTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointFreeFlyerTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointMimic&lt; Joint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelFreeFlyerTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelMimic&lt; Joint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelPlanarTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteUnboundedTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelRevoluteUnboundedUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelSphericalTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelSphericalZYXTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelTest&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointModelTranslationTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointPlanarTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointPrismaticTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteUnboundedTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointRevoluteUnboundedUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointSphericalTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointSphericalZYXTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointTest&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointTpl&lt; _Scalar, _Options, JointCollectionTpl &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; JointTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; LieGroupGenericTpl&lt; LieGroupCollection &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionPlanarTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionPrismaticUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRef&lt; const Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRef&lt; Vector6ArgType &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRevoluteTpl&lt; _Scalar, _Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionRevoluteUnalignedTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionSphericalTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; MotionZeroTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; ScaledConstraint&lt; Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SE3Tpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialEuclideanOperationTpl&lt; Dim, Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; 2, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; 3, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; SpecialOrthogonalOperationTpl&lt; Dim, Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; TransformPrismaticTpl&lt; _Scalar, _Options, _axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; TransformRevoluteTpl&lt; _Scalar, _Options, _axis &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; TransformTranslationTpl&lt; _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::traits&lt; VectorSpaceOperationTpl&lt; Dim, _Scalar, _Options &gt; &gt;</class>
    <class kind="struct">pinocchio::TransformPrismaticTpl</class>
    <class kind="struct">pinocchio::TransformRevoluteTpl</class>
    <class kind="struct">pinocchio::TransformTranslationTpl</class>
    <class kind="struct">pinocchio::UnboundedRevoluteAffineTransform</class>
    <class kind="struct">pinocchio::VectorSpaceOperationTpl</class>
    <member kind="typedef">
      <type>SpatialAxis&lt; 0 &gt;</type>
      <name>AxisVX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4b2fb137cc2364f1c3eedd52e775f1a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 1 &gt;</type>
      <name>AxisVY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac67ca9d7dca2414fa6f7b4592c2ca867</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 2 &gt;</type>
      <name>AxisVZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a15a7e5f8fa5892645672e77f0add0b84</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 3 &gt;</type>
      <name>AxisWX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a92be5bde12d5a74389c7451f805d707e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 4 &gt;</type>
      <name>AxisWY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a058366a6bd56eb80bed5f95fbf38bc6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SpatialAxis&lt; 5 &gt;</type>
      <name>AxisWZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab1f419926914b457be3453d3fb3762e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianAxis&lt; 0 &gt;</type>
      <name>AxisX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9d258a5e3ac4ae86e5b63f1c7cca413e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianAxis&lt; 1 &gt;</type>
      <name>AxisY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af263015f3185caeb652fce574b3153f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianAxis&lt; 2 &gt;</type>
      <name>AxisZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adf17d1baa333258a4659c57231cbb282</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CartesianProductOperationVariantTpl&lt; double, 0, LieGroupCollectionDefaultTpl &gt;</type>
      <name>CartesianProductOperationVariant</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac584c5cc80c697cd105202922651bc32</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; 1, double, 0 &gt;</type>
      <name>Constraint1d</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a437c159a1462b7de242b69fdeb50a927</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; 3, double, 0 &gt;</type>
      <name>Constraint3d</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5238a034433a52ea0edc8cff61903949</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; 6, double, 0 &gt;</type>
      <name>Constraint6d</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2d627234738a2bbfaed1807ff686a901</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ConstraintTpl&lt; Eigen::Dynamic, double, 0 &gt;</type>
      <name>ConstraintXd</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adea12270ff1c6c177a4c417f5c2f81c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>DataTpl&lt; double &gt;</type>
      <name>Data</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga582ff674471e566198472e36ac306dfa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceTpl&lt; double, 0 &gt;</type>
      <name>Force</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga6f1f4464b05f1a2bb607804691f1ad91</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ForceSetTpl&lt; double, 0 &gt;</type>
      <name>ForceSet</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8494f20d30ed695e6def67fd90a8f64a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; double &gt;</type>
      <name>Frame</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga06c859e5157655f8e3bb2617fb4a9ce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>FrameIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab985d3dad133f1ad0237833e0633aefe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GeometryPoolTpl&lt; double, 0, JointCollectionDefaultTpl &gt;</type>
      <name>GeometryPool</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1573ed6c49e6df4accfa81030d8534d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>GeomIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab1ddedd6a73a00bc98bbeb23ccf06aab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::size_t</type>
      <name>Index</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga8d8174a1497501b9660bd470ba4d4ff6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; double, 0 &gt;</type>
      <name>Inertia</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga7174f964f5eb95b8781a02c348e554ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointTpl&lt; double &gt;</type>
      <name>Joint</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8b259227a8b29338eb89876d100bbe75</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionDefaultTpl&lt; double &gt;</type>
      <name>JointCollectionDefault</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga022f6caf3cd04921033f3cc796d35e52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; double &gt;</type>
      <name>JointData</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga63ed7efc33f4dbae1e5e11fdafcaf813</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataCompositeTpl&lt; double &gt;</type>
      <name>JointDataComposite</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac9d92809b923a21f63e5017ab198fbfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataFreeFlyerTpl&lt; double &gt;</type>
      <name>JointDataFreeFlyer</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga7bfbafeed8bad88b1ce3bb79217979df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPlanarTpl&lt; double &gt;</type>
      <name>JointDataPlanar</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga69291922e33f6355b900bbc4724b830f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>JointDataPrismaticUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga042b7624682dc160ec337742e4ec7d00</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; double, 0, 0 &gt;</type>
      <name>JointDataPX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2d7fb835717f2bd25c8233323a6d5cb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; double, 0, 1 &gt;</type>
      <name>JointDataPY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a33a6edb3ac2036262a93d7c7a85d1102</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticTpl&lt; double, 0, 2 &gt;</type>
      <name>JointDataPZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa719b26552fb26f4f730e6bb6bbffe6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>JointDataRevoluteUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gab0696c98b2c466f07c83d9eddc4d08a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedUnalignedTpl&lt; double &gt;</type>
      <name>JointDataRevoluteUnboundedUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gae676b8cb8a3da092492351cc16b22fe6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; double, 0, 0 &gt;</type>
      <name>JointDataRUBX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa7767827631206dca85006cfdbc7a33f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; double, 0, 1 &gt;</type>
      <name>JointDataRUBY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a231bc3f5c7f39a3497ebd4c68a632780</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedTpl&lt; double, 0, 2 &gt;</type>
      <name>JointDataRUBZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adf56d096e1a2332a7d9d7730ffb191c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; double, 0, 0 &gt;</type>
      <name>JointDataRX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abbbf51cf8af270b1b90e8774c8fb3bf8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; double, 0, 1 &gt;</type>
      <name>JointDataRY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad3426caf353ec3373a71927f45935ee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteTpl&lt; double, 0, 2 &gt;</type>
      <name>JointDataRZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0b9cea6ea95ab230951a6134a6ad266b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalTpl&lt; double &gt;</type>
      <name>JointDataSpherical</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga832a81b84142481ceb36dc8e0ec76738</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalZYXTpl&lt; double &gt;</type>
      <name>JointDataSphericalZYX</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga9da7c448fdaca39b8da7431c8bd05c41</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTranslationTpl&lt; double &gt;</type>
      <name>JointDataTranslation</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga044b0df225194ea88fde5839b5646199</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionDefault::JointDataVariant</type>
      <name>JointDataVariant</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a648d2c07fde952e8d3966f7335dbb97c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>JointIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga93f5a27397872ef67f35c7b0cf10654e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; double &gt;</type>
      <name>JointModel</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gab5d34140fd139d4d628cae706a859693</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelCompositeTpl&lt; double &gt;</type>
      <name>JointModelComposite</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gae53cef5b5200dddcea5ad3e5c4604119</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelFreeFlyerTpl&lt; double &gt;</type>
      <name>JointModelFreeFlyer</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga480d46e43a3a4a435a7a82a7ab663d38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPlanarTpl&lt; double &gt;</type>
      <name>JointModelPlanar</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gaab36d0cd79fcc59eb18f6790b8dba233</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>JointModelPrismaticUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga4d9110642b9ca89c038b6a25bb2e692f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; double, 0, 0 &gt;</type>
      <name>JointModelPX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad7315c71b7bf7523ce818c59c61b6294</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; double, 0, 1 &gt;</type>
      <name>JointModelPY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abd99dc877e7be6ef658279413e529616</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticTpl&lt; double, 0, 2 &gt;</type>
      <name>JointModelPZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a98fec62908ef22c7998eb5a3edf65765</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>JointModelRevoluteUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac5123b2c4b01951d93edaef4c1dcab4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedUnalignedTpl&lt; double &gt;</type>
      <name>JointModelRevoluteUnboundedUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gaf25cda0fbb70012891b819326cedc493</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; double, 0, 0 &gt;</type>
      <name>JointModelRUBX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adad9ace1a6ec4a4565dde408e20ed89e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; double, 0, 1 &gt;</type>
      <name>JointModelRUBY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae9e717a705e8d520f1b389b88b1c494d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedTpl&lt; double, 0, 2 &gt;</type>
      <name>JointModelRUBZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac764582dd4637a6894db7d75985518f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; double, 0, 0 &gt;</type>
      <name>JointModelRX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabe097f338fb41a6cae5c01d28522ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; double, 0, 1 &gt;</type>
      <name>JointModelRY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a853ae2226c037b92ba30263da6e628d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteTpl&lt; double, 0, 2 &gt;</type>
      <name>JointModelRZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>affdd2819741c983350a253e15be1fdd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalTpl&lt; double &gt;</type>
      <name>JointModelSpherical</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga045a3bb456c5f2495952c873147afedd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalZYXTpl&lt; double &gt;</type>
      <name>JointModelSphericalZYX</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac25e645e6f2719d547fc92484ac989dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTranslationTpl&lt; double &gt;</type>
      <name>JointModelTranslation</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga781fd63303a7aed972b44f8a73b2d3f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointCollectionDefault::JointModelVariant</type>
      <name>JointModelVariant</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9ef9f3b85ed00d608a9b17c41979feda</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; double, 0, 0 &gt;</type>
      <name>JointPX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3962bd11b81fcaea9d23958a65161efb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; double, 0, 1 &gt;</type>
      <name>JointPY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abb784c8d1af8678585636674cbc95f6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointPrismaticTpl&lt; double, 0, 2 &gt;</type>
      <name>JointPZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a957528d673379484be8864f60b043c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; double, 0, 0 &gt;</type>
      <name>JointRUBX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acad9740a990dfff06503920ffee4aee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; double, 0, 1 &gt;</type>
      <name>JointRUBY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a77b27258f0ac8ffca780ed997607d282</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteUnboundedTpl&lt; double, 0, 2 &gt;</type>
      <name>JointRUBZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0591f261bc9898bc95faa9e6472ac1f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; double, 0, 0 &gt;</type>
      <name>JointRX</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae3f55c9d4e9277f1752571916f7b3e93</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; double, 0, 1 &gt;</type>
      <name>JointRY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aad962351727fc6b0f3d44f662eaec617</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointRevoluteTpl&lt; double, 0, 2 &gt;</type>
      <name>JointRZ</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adfc32ad486b0316aeee08163416a7c0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LieGroupCollectionDefaultTpl&lt; double &gt;</type>
      <name>LieGroupCollectionDefault</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6790c18797ce3dea26cbc666acb3a7d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; double &gt;</type>
      <name>Model</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga373abc21697d4b1e0b32e406fb058779</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelPoolTpl&lt; double, 0, JointCollectionDefaultTpl &gt;</type>
      <name>ModelPool</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9622733c6ab063d402677ffaf5427a1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; double, 0 &gt;</type>
      <name>Motion</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga57d1c4a68c7b5f2e5d94bdd1601a9339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPlanarTpl&lt; double &gt;</type>
      <name>MotionPlanar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a664ca55e12de3e0677259eebc4c54a97</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>MotionPrismaticUnaligned</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9499ba4e48186f6981c1d3871dd9d9b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>MotionRevoluteUnaligned</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a79e85433f3392bea3f7567928da14fbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionSphericalTpl&lt; double &gt;</type>
      <name>MotionSpherical</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a033b06d19f554974cebfeabea0d8ab58</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTranslationTpl&lt; double &gt;</type>
      <name>MotionTranslation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae44511400078725af5cb5a7bc46200d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; double, 0 &gt;</type>
      <name>MotionZero</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga12708018b8073f231d9df109a57e2360</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>PairIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga634b9d244e922bc4b0de310c825bf7ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; double, 0 &gt;</type>
      <name>SE3</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gae0cfc18b44c8cf48d634c965ddfd1220</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Symmetric3Tpl&lt; double, 0 &gt;</type>
      <name>Symmetric3</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga041c72c93145de80da9f47d170811c1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>MAX_JOINT_NV</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>add7ec2fdabf6ed149e81de797e2b25a3a9075d61dc340758af2ac86d7cd632284</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>SELF</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a47afbc0d60a02f7ba04baa4c82e88125a6a369fef49acabfcda45b64235ee2fcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>ArgumentPosition</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG0</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a55f1ffe9b704b5d3e90395d7a8fb2585</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG1</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388ad83ecfc28bcaf36f531ba853fc098ba8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG2</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a0e131052e33ebed9b9699ac3a22dc13c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a27d7912e236ec0a092445d0db2e47d1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ARG4</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a166b6969e57758c8d6c5fe0096aed388a5e8da419e326e44bc19e227b21e5db1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>AssignmentOperatorType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>SETTO</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27a7d41c72a945e11d5f7cc8decf6267c47</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ADDTO</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27ac0fa3d44bac23073b18667f673c8e93d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RMTO</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a869a7604770fdaf0c449ab422e143c27a586c761d9abd510fe706483f76d87651</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>FrameType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>OP_FRAME</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936ad47b7609fa6d6e3521e76bb7227c4623</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>JOINT</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936a7802d353d5075d653a2500eca53de7e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FIXED_JOINT</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936aa641ccb1e089c78a1d70a61bb10d79c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>BODY</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936ac3c2a2ac633d876202b0ef0216122e07</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>SENSOR</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad255021fa02d5f1e58a11b453ed4c936ad25ffb70590948ff315051f49a919008</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>GeometryType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a34d5b1078bd1b4740091eb00b66cbffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>VISUAL</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a34d5b1078bd1b4740091eb00b66cbffaac80e8703b6e0fbc958f4749c745c375b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>COLLISION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a34d5b1078bd1b4740091eb00b66cbffaa3141855bd81388604dbb2f129b4cabb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>KinematicLevel</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga647259697b4b404a10b294ad824b8759</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>POSITION</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a905ebd5c93606256af94de0222dee91e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>VELOCITY</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a63908d173505e34f3914d89d475c26b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ACCELERATION</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a4d1d688f17a4435e24f733301470bf81</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>ModelFileExtensionType</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2c8a5006d289e13c77bd15f99f7bde6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>UNKNOWN</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2c8a5006d289e13c77bd15f99f7bde6faee9c72cd35f4c508a793ad7cc816fbf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>URDF</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2c8a5006d289e13c77bd15f99f7bde6fae0d21bb870bb48d8cf3e795061b8b5c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>ReferenceFrame</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab91d26fac715585408fa359aaf30f82f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>WORLD</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82fa23987aa2990d0b5f3602b6e8b44f0379</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LOCAL</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82faface824360eb6431bd8b958c8ab11c01</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LOCAL_WORLD_ALIGNED</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82fa95597e292ac88f125097b657013e83f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a24aecd1cd66758914ebb7f0c9e1bf289</anchor>
      <arglist>(const int num_threads, ModelPoolTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;pool, const Eigen::MatrixBase&lt; ConfigVectorPool &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorPool1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorPool2 &gt; &amp;tau, const Eigen::MatrixBase&lt; TangentVectorPool3 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a17af40dd678c172346b88297db676c27</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aafc05b31fb1ff62fa45d7a7ad7b9b83a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const container::aligned_vector&lt; ForceDerived &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addJointAndBody</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b667ecd96e61f691841f83d495def04</anchor>
      <arglist>(Model &amp;model, const JointModelBase&lt; D &gt; &amp;jmodel, const Model::JointIndex parent_id, const SE3 &amp;joint_placement, const std::string &amp;name, const Inertia &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8083f70afd847e1a2b54eb125a93d5e8</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>alphaSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae9d1c38b8973397751e56ff1994cf366</anchor>
      <arglist>(const Scalar alpha, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3)::Options &gt;</type>
      <name>alphaSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a533e8c027b8c7da5938087046b4b8b40</anchor>
      <arglist>(const Scalar alpha, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendGeometryModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af8708529b11a8d4645cc6116430b9549</anchor>
      <arglist>(GeometryModel &amp;geom_model1, const GeometryModel &amp;geom_model2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5c448b893a005838e49ba59d4fcc9b4a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>appendModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adaab216584356df0b10886d5ec099106</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aec3e3ad5a61d7cce8384b533e51233fe</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const GeometryModel &amp;geomModelA, const GeometryModel &amp;geomModelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, GeometryModel &amp;geomModel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>appendSuffixToPaths</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa0bb6d348a9dad3d777879629f8e4f5d</anchor>
      <arglist>(std::vector&lt; std::string &gt; &amp;list_of_paths, const std::string &amp;suffix)</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7a07b7bf9a1f9f0d7d95ecc9b000d7a6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel&lt; 0 &gt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3bf4264a0e84b173050bcc2f4de9e833</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel&lt; 1 &gt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af37accb825eb2f57e9fed07b0533485d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>char</type>
      <name>axisLabel&lt; 2 &gt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a39db294dab937152d7d165d1bdf415be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>bias</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acac31723e196ccf4814db0e3c1a68598</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>bodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a079978954ee80640876b699400cc55ce</anchor>
      <arglist>(const MotionDense&lt; MotionVelocity &gt; &amp;v, const MotionDense&lt; MotionAcceleration &gt; &amp;a, const Eigen::MatrixBase&lt; OutputType &gt; &amp;regressor)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename MotionVelocity::Scalar, 6, 10, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options &gt;</type>
      <name>bodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a78eb9365d8df52db2a277ace147b68b5</anchor>
      <arglist>(const MotionDense&lt; MotionVelocity &gt; &amp;v, const MotionDense&lt; MotionAcceleration &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildAllJointsModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9f7237e34e3079213d4de54dabacae43</anchor>
      <arglist>(Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa1d1385282ca1ab240416d6312fe5012</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, std::vector&lt; JointIndex &gt; list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;reduced_model)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3d3da4bd95ec1681cfafd53ca44cf224</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac7783099feeca05cd34e93bc3db8f727</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const GeometryModel &amp;geom_model, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;reduced_model, GeometryModel &amp;reduced_geom_model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab1d9546bcc1abace31c3d6aab20a4932</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::vector&lt; GeometryModel, GeometryModelAllocator &gt; &amp;list_of_geom_models, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;reduced_model, std::vector&lt; GeometryModel, GeometryModelAllocator &gt; &amp;list_of_reduced_geom_models)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_aba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9868f32113862bda0c539eb5256ceed4</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, const Eigen::MatrixBase&lt; Matrix6Type &gt; &amp;I, const bool update_I)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_first_order</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5cb87132f96527e3e3b29c45c1f1700c</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_zero_order</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9b71f4f705d538260a8744042859e63c</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>NewScalar</type>
      <name>cast</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a98cde85567743a858bf846ac1a52ee23</anchor>
      <arglist>(const Scalar &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>CastType&lt; NewScalar, JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &gt;::type</type>
      <name>cast_joint</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4c840eac08ce796d40c2dc8cec34c291</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>ccrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad37c08502defc1f71f385c82f701d515</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a429f890fcf3471e5432ba9cf55cd5666</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4f458b0b39322756ce0d7bc77d9d493c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0874e4cd0ff771cf5744be1d6f8ebb92</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a365c08eeedb247e3cb89bd8ad21e4c2f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, KinematicLevel kinematic_level, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad18a448dc865df61cd36d56f6fdad7d8</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, int kinematic_level, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>centerOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a25b6ea53d7a8f4ffb73c902cf6ea980b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a412c3880992c864f0223ba280ddf737b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>ModelFileExtensionType</type>
      <name>checkModelFileExtension</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a74293805b9a52087c9fa447a3ba1050e</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkVersionAtLeast</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a99ce124d6accd23b7901c9b4a9edd882</anchor>
      <arglist>(unsigned int major_version, unsigned int minor_version, unsigned int patch_version)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a25641e8813ff7f8c34adf605f588b16f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;aba_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;aba_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;aba_partial_dtau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae7ac6533be15c2aaa2912f9edc873022</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;aba_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;aba_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;aba_partial_dtau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a253867c52af4821c12e210c63727a43b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeABADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a65b7e91b8410f5de36a6f3ed75eed919</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAllTerms</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a98b0f68f6b24d6c21fb4cfce7dc47dbc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a18227c521b5e88b5645c4136a4ba492f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a221df6541c7728a0b87123a627b495f0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeCentroidalDynamicsDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a344d8d1d4380d93f228a880b0c3361fc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const Eigen::MatrixBase&lt; Matrix6xLike0 &gt; &amp;dh_dq, const Eigen::MatrixBase&lt; Matrix6xLike1 &gt; &amp;dhdot_dq, const Eigen::MatrixBase&lt; Matrix6xLike2 &gt; &amp;dhdot_dv, const Eigen::MatrixBase&lt; Matrix6xLike3 &gt; &amp;dhdot_da)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeCentroidalMap</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae186a5752333a405c53785d82fed0e97</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeCentroidalMapTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab7f3f2f7ca694cb21ab00a818b661d11</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0f0027c6b1de21ae3bf728fc93a8267e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a779fc82fdd33760b87f6ce116ca8c8f3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentumTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a58aae3c6002a58f93c16b80a81c2e9bb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Force &amp;</type>
      <name>computeCentroidalMomentumTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5a70f7bb0ea6ebd0af2a2dd10a97766c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeCollisions</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abe5ac3d1d8bffc6c09f18661cd148f4b</anchor>
      <arglist>(const int num_threads, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeCollisions</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae3db163c55df5aa3e13b9efe404bfa81</anchor>
      <arglist>(const int num_threads, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeCollisions</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad7c8816f3d305b2efbe3c3c10707c507</anchor>
      <arglist>(const int num_threads, GeometryPoolTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;pool, const Eigen::MatrixBase&lt; ConfigVectorPool &gt; &amp;q, const Eigen::MatrixBase&lt; CollisionVectorResult &gt; &amp;res, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>computeCoriolisMatrix</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9d218e485952707a1103003d8fbc2622</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeForwardKinematicsDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a872e7af22fc1e5898fb44dcda16689d0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeFrameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7b1189aea93a252f4c06d9a7e3c9f5e7</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const FrameIndex frameId, const ReferenceFrame reference_frame, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeFrameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab3cc591c2c1cab9e78354c4191ad18b3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const FrameIndex frameId, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeFrameKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a86cc243f24b6a4b78edb1a7c763cbe13</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xReturnType &gt; &amp;kinematic_regressor)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x</type>
      <name>computeFrameKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aff573518d64ac08ddf1bb84bbea12fdb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>computeGeneralizedGravity</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abba9acf2f9cc47873eb164e75171c25b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeGeneralizedGravityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7221574a13491b62778144644141ad23</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; ReturnMatrixType &gt; &amp;gravity_partial_dq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af1948cb50a9211fd338feb2a3d42d661</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const JointIndex jointId, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeJointJacobians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa94eb0eb9e51486f618e49617a724d9f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeJointJacobians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a020188c32122c35fa5f08b0b92a22d6d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>computeJointJacobiansTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3684c6d8fb1a0601ed6e16af89ca6a5f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicHessians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5cd2216bda4d2de1b13686c18ea1dce6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicHessians</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a82575f33d28daf5611b5a517b15a5bcf</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a785d5bbefab2b20448e724f26b4dd3f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl&lt; Scalar, Options &gt; &amp;placement, const Eigen::MatrixBase&lt; Matrix6xReturnType &gt; &amp;kinematic_regressor)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a772df51c2e60cee9e2c3035ee1605d9e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl&lt; Scalar, Options &gt; &amp;placement)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5530fec3aa6685fc68d0b31be20b7787</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xReturnType &gt; &amp;kinematic_regressor)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x</type>
      <name>computeJointKinematicRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a09030bdfcbdeb37505ea77959f61a35a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex joint_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>computeJointTorqueRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a144858691dd4b67aa44d01f905088344</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeKineticEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b3395c59e96181abf31f8901dd7821c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeKineticEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af5580b04e71977ec3f45029b387ffd75</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeKKTContactDynamicMatrixInverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a14be42b6e0582bc3dd9e91094e573349</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; KKTMatrixType &gt; &amp;KKTMatrix_inv, const Scalar &amp;inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::RowMatrixXs &amp;</type>
      <name>computeMinverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afed6d372039ce2492aa6e273ac625ba0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computePotentialEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7c075257a13d2131a88cc0ade164c2c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computePotentialEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aca2fedea4d3fddba060fdd68229a061c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2f52a3ae71206c9d57b2ddcd72cdc680</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;rnea_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;rnea_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;rnea_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa9bc71bf9cfaed2045f60bda44d15af0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext, const Eigen::MatrixBase&lt; MatrixType1 &gt; &amp;rnea_partial_dq, const Eigen::MatrixBase&lt; MatrixType2 &gt; &amp;rnea_partial_dv, const Eigen::MatrixBase&lt; MatrixType3 &gt; &amp;rnea_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a792a17cdc02c7ba97fe065a3d8310f20</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a320fd11e16f2fffa10aede34e7c0c478</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ComputeRNEASecondOrderDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a239a4ff530da52721e094f670ef9fe53</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const Tensor1 &amp;d2tau_dqdq, const Tensor2 &amp;d2tau_dvdv, const Tensor3 &amp;dtau_dqdv, const Tensor4 &amp;dtau_dadq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ComputeRNEASecondOrderDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab3bd3d0d8a082888344d80ccf8ed5f34</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>computeStaticRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acda310b9c721c7f06c45ff54c56866b5</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>computeStaticTorque</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afbe0fc2c9b9c46015197439d3fa7a811</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeStaticTorqueDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a31862ab216d04b996c406a6c7a1f8661</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const container::aligned_vector&lt; ForceTpl&lt; Scalar, Options &gt; &gt; &amp;fext, const Eigen::MatrixBase&lt; ReturnMatrixType &gt; &amp;static_torque_partial_dq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeSubtreeMasses</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0c09ef7830d6d96012559d7487f7759b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>ForceTpl&lt; Scalar, Options &gt;</type>
      <name>computeSupportedForceByFrame</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acc4a0104a5fe3c0ecf87ad548a5d5206</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl&lt; Scalar, Options &gt;</type>
      <name>computeSupportedInertiaByFrame</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aaee9e756dc3a2c937cef59f11002e210</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, bool with_subtree)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeTotalMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1c0edadfd90f1137df262a38d43f1011</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>computeTotalMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a71187ab703325a08e05f0d5126d435ce</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintTpl&lt; Eigen::Dynamic, Scalar, Options &gt;</type>
      <name>constraint_xd</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6d0eb68a7e6602fc12cfe0e9096c4a76</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6d9f1baf9564617f3ca8a08b73ed8cb2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;origin, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;dest, KinematicLevel kinematic_level)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aca7ab57488941edcd636ddae0c61491c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;origin, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;dest, int kinematic_level)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>crba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad3da115c312299adc15978286aa82b10</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>crbaMinimal</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a36288ce8586bb7cb0cc5a83eefe04646</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt;</type>
      <name>createData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1974ab87499a774521fd59eaea94bff6</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>cross</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af0e2adf0128417608c54e341671e9691</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3xIn &gt; &amp;Min, const Eigen::MatrixBase&lt; Matrix3xOut &gt; &amp;Mout)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix6x &amp;</type>
      <name>dccrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7003a73837453cc1c4adf3906e0b1aaf</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>add023617cfb8257e520c9d2e42919bec</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afebd9d0305f3e5b85a5534be9d39d461</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97133433e4815627be9a3733138b6664</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;Jout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3eebe5e3abebf92ffdca1dcc548cfcbd</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a71a74436e2285780be0a28b3bb865970</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6b94b0b73a09c7a4892ad7690187326</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, int self, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a55e1ca54b4b6b46a58e8e44225533514</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, int self, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad74f718d8adeb17a05240564a3e97c61</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianIn_t &gt; &amp;J_in, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J_out, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a71ce453cd9d8159be5e953690e3afa66</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianOut_t &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic, Options &gt;</type>
      <name>dinv_inertia</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab8bc8b2efd1ea5aa962a97b07735823b</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>ConfigL_t::Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a87057785108d614b6e36aa8a209dfd0d</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassBinaryVisit</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a641d5e8adb2d7ec0665d5cec3e55c87d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassBinaryVisitNoData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aed20f71d65066ae5469e63933ffb7e05</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassUnaryVisit</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acf38f050fbb70ce8298ba0cf842d06e6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>emptyForwardPassUnaryVisitNoData</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a12ec61584caff5f083e91f962345e2b2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>exp3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42bd3639610c49bf55022ae536ffc5f2</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; typename MotionDerived::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionDerived::Vector3)::Options &gt;</type>
      <name>exp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4849c5b017caafb8634260b5ad2a43eb</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;nu)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options &gt;</type>
      <name>exp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97e07aa9dfc7c2f96a542d5f26a4884d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector6Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extractPathFromEnvVar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a89ed484e4247aa8f0aaca24e73feba19</anchor>
      <arglist>(const std::string &amp;env_var_name, std::vector&lt; std::string &gt; &amp;list_of_paths, const std::string &amp;delimiter=&quot;:&quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>extractPathFromEnvVar</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abd6d0d73fdd3b87b1bc7dea1054b6b67</anchor>
      <arglist>(const std::string &amp;env_var_name, const std::string &amp;delimiter=&quot;:&quot;)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab26c1ca5d01d5885b329fc35793682df</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; DriftVectorType &gt; &amp;gamma, const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9a974c741c7d4a6d5e1bf8da373059c9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;tau, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; DriftVectorType &gt; &amp;gamma, const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a59d611a107d9848f3d702fa2e29afd2e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;tau, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; DriftVectorType &gt; &amp;gamma, const Scalar inv_damping, const bool updateKinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97be7e9cd332a591b1431e30bab2c51e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5c8fc7279a9bccdcad61964d8468b49d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a601f17282020e4bb7d3e6f72b934fbe4</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::BodyRegressorType &amp;</type>
      <name>frameBodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa3fba23fe61e4bbf86ed5bc009fb938f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, FrameIndex frameId)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>frameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aef7cdada2a31f19561af479c4c282f8a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const FrameIndex frameId, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>framesForwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a89903169c76d3c55bacaa2479bd39f76</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>framesForwardKinematics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa5a6abb67e63b51f1897d97b2521c40a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac2bc0220c3f01683a8aa6e43abae26ca</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCenterOfMassVelocityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af54c11ef0377ff24c383e0c8e8df1cb1</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Matrix3xOut &gt; &amp;vcom_partial_dq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCentroidalDynamicsDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42b251834df6908dbb7cc2f3d921b7fc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Matrix6xLike1 &gt; &amp;dh_dq, const Eigen::MatrixBase&lt; Matrix6xLike1 &gt; &amp;dhdot_dq, const Eigen::MatrixBase&lt; Matrix6xLike2 &gt; &amp;dhdot_dv, const Eigen::MatrixBase&lt; Matrix6xLike3 &gt; &amp;dhdot_da)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getClassicalAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6197dd2be2d2daf053f661fb6689a0d7</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Vector3 &amp;</type>
      <name>getComFromCrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a865859a11422761cb1344bb9e11b35df</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>getCoriolisMatrix</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a239c6c425fb0e0b0afd3cff5d34c2524</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getFrameAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad37033439652cb4db09171983de2173c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a41670156138a7a32616d2f56e9e8ab19</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0d05b1c07362deab78a8855467b354ef</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut5 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getFrameClassicalAcceleration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac422b8292f73949342174bd272345a83</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5aa19d265b05aaa782bb24ae4d8894f0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameJacobianTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa7e966e59c38965867107fc2dc53d853</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xLike &gt; &amp;dJ)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getFrameVelocity</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aeff1f1c50eaa6a706ac2271a4d70a2cd</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrameVelocityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aaed126862711655777784da0f0cc4b6b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>getJacobianComFromCrba</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac52ba2174f0159848030b9607a1253af</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJacobianSubtreeCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afbe370c7f1a8f5bb85948b758af45092</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex &amp;rootSubtreeId, const Eigen::MatrixBase&lt; Matrix3xLike &gt; &amp;res)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6e343bd350c297bfee2ad85a7156cca0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointAccelerationDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a08148943b4333338e159121d68b96321</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut3 &gt; &amp;a_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut4 &gt; &amp;a_partial_dv, const Eigen::MatrixBase&lt; Matrix6xOut5 &gt; &amp;a_partial_da)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abadfcd21d13fa17865a189e4b47acca9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointJacobianTimeVariation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a50c89f26935985f6fc9c96908bb855d0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;dJ)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointKinematicHessian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8b20ddbfb94f65aa3b24cc8361d67210</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex joint_id, const ReferenceFrame rf, Tensor&lt; Scalar, 3, Options &gt; &amp;kinematic_hessian)</arglist>
    </member>
    <member kind="function">
      <type>Tensor&lt; Scalar, 3, Options &gt;</type>
      <name>getJointKinematicHessian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a024e768162b4e65d81e8ab5108cbee96</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex joint_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getJointVelocityDerivatives</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa6f12ecbc9b65061a002d056c6369497</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase&lt; Matrix6xOut1 &gt; &amp;v_partial_dq, const Eigen::MatrixBase&lt; Matrix6xOut2 &gt; &amp;v_partial_dv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getKKTContactDynamicMatrixInverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0d8946392edecc0d1de49cc39affb3fb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Eigen::MatrixBase&lt; KKTMatrixType &gt; &amp;KKTMatrix_inv)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getOpenMPNumThreadsEnv</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f50ff602d61fe3d31a960d2fcaff92b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>getVelocity</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abedac3ea5f422c09d6ce4ff52394b644</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex jointId, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimit</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa31aab90bbdebce5a82ec0fbde947236</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; bool &gt;</type>
      <name>hasConfigurationLimitInTangent</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acf531b433819a6675fb807f4284a7bd4</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasNaN</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7d07811c6255729f297f9a53fecde917</anchor>
      <arglist>(const Eigen::DenseBase&lt; Derived &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasSameIndexes</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a288422ac104fe8c06908315cf556b497</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel_generic, const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Hlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab9113d3afd571df2f1a9ea025145c9d7</anchor>
      <arglist>(const Scalar &amp;theta, const Eigen::MatrixBase&lt; Vector3Like1 &gt; &amp;log, const Eigen::MatrixBase&lt; Vector3Like2 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;vt_Hlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Hlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af161bce0560ad0697bc5ee614e32fb88</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like1 &gt; &amp;R, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3Like2 &gt; &amp;vt_Hlog)</arglist>
    </member>
    <member kind="function">
      <type>JointIndex</type>
      <name>id</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f1eb0ed5d11c826992c8ff058bf1dcf</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_q</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad71bd4f97bc5cf78f8fecc2b37682ca2</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>idx_v</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7c675de46e040b485dd0d90e0d5e6379</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b3ac8f8d2b0bb7ec4aeea811d5d1800</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v_before, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Scalar r_coeff=0., const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91268e5d287a8d170ba80092d922da39</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v_before, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Scalar r_coeff=0., const Scalar inv_damping=0.)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a69aac2cb1fa75bb7c000f333ba39e173</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v_before, const Eigen::MatrixBase&lt; ConstraintMatrixType &gt; &amp;J, const Scalar r_coeff, const bool updateKinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a287574ae016b5828cd9ce36d3824770e</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigIn_t &gt; &amp;q, const Eigen::MatrixBase&lt; Tangent_t &gt; &amp;v, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5984eb6bb6e93b9f87e920b1f4f4e842</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const typename ConfigL_t::Scalar &amp;u, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverse</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a53f0b60b38c4fe35b4c5739dcc5eb814</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixIn &gt; &amp;m_in, const Eigen::MatrixBase&lt; MatrixOut &gt; &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a28409bc1d4f78271d95630d4bdc0cc90</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel_generic, const JointModelBase&lt; JointModelDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEqual</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af063b2c15e93d3c380ccd9daa6b22de6</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel_generic, const JointDataBase&lt; JointDataDerived &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5bcc015c9e8c85e4fbec976a22e287cb</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;qin, const typename Config_t::Scalar &amp;prec=Eigen::NumTraits&lt; typename Config_t::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1b849ca7bd978fba0d8c77646f3af067</anchor>
      <arglist>(const Eigen::MatrixBase&lt; VectorLike &gt; &amp;vec, const typename VectorLike::RealScalar &amp;prec=Eigen::NumTraits&lt; typename VectorLike::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a61dfad4db26e7d7ea6dea206d88c446e</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const typename ConfigL_t::Scalar &amp;prec)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isUnitary</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a45b9b401eda2fca0e3df1d0dfb876551</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;mat, const typename MatrixLike::RealScalar &amp;prec=Eigen::NumTraits&lt; typename MatrixLike::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isZero</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aea6a960ac8fc65e2bfd353eb7521a5e9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixLike &gt; &amp;m, const typename MatrixLike::RealScalar &amp;prec=Eigen::NumTraits&lt; typename MatrixLike::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>jacobianCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa68008ef776e6959af9884eff4514633</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>jacobianCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5a9107628d54b00bb72c021cb44dc89d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jacobianSubtreeCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a37945b7a0c0749210afeeee5927bb1c3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const JointIndex &amp;rootSubtreeId, const Eigen::MatrixBase&lt; Matrix3xLike &gt; &amp;res)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jacobianSubtreeCenterOfMass</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae3b8c1490b1a20754a1cbd237b1c51db</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const JointIndex &amp;rootSubtreeId, const Eigen::MatrixBase&lt; Matrix3xLike &gt; &amp;res)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a08fbc06d6caeae9c60a0412c82b87590</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;r, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aac08f53125057572ac5838ec88164963</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;r, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a218ad95514aa1152eb5d83560bb56b86</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;nu, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aafe310d093976e3a3be626848c34bfda</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;nu, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a756cdb33ab783f34248c45d08aef00f4</anchor>
      <arglist>(const Scalar &amp;theta, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;log, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a03480af393307e416683708319e2d2ad</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like1 &gt; &amp;R, const Eigen::MatrixBase&lt; Matrix3Like2 &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab17df97cd3cbec6801112c074a8b5377</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;M, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>joint_transform</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aefa0ea0a3af3e75e551146593ed25058</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::BodyRegressorType &amp;</type>
      <name>jointBodyRegressor</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2cedacbd64e2a86db2a627cfd597883c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, JointIndex jointId)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>jointJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac15fc1cfc7661245f61b3f2632fbcc2d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const JointIndex jointId, const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;J)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED Scalar</type>
      <name>kineticEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae5f44da66618a11b79438f4d26f947fb</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad0ae6998b2b9c18379103338625bb6bf</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R, typename Matrix3Like::Scalar &amp;theta)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a55025e900a38ed78e3e246bdbfb6daf7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>log6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0b9165aaf6d0b46d9aa2b09d96f83eaf</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; typename Matrix4Like::Scalar, Eigen::internal::traits&lt; Matrix4Like &gt;::Options &gt;</type>
      <name>log6</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4cc4429a3d2190626fc6a3a5b383d23e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix4Like &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>AlgorithmCheckerList&lt; ParentChecker, CRBAChecker, ABAChecker &gt;</type>
      <name>makeDefaultCheckerList</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af526e1ce1a83745dddbe50b0747d0c8f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;</type>
      <name>motion</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0cae76ed328e3dd51c6a0facc18a3373</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab233aae353b5732efdb8208e99c0ee32</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options &gt;</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aaecd045e49ac75aeffcf7df22b156274</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>nonLinearEffects</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac1fc4c85c53a6d7285863b73c56c955c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab69e7a7163781fb2db581982552579f8</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalizeRotation</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3c501583d12252ac82f577cd0729122f</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;rot)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a11034b5c7479bf0a48edb625df818e13</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nq</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aab744aa4e8bab6a7567d40d6d3a968bf</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0b8dbab230f00794ed4b88f5a4602850</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9f22c4db0ab7093c7f8276a140320d88</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0fff33f6623b4853b1bb1dbcdc4ec38c</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;joint_data, const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_data_generic)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac9d3f7ebf9d845224e011ce1ec13a71a</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;joint_model, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_model_generic)</arglist>
    </member>
    <member kind="function">
      <type>MotionRef&lt; const Vector6Like &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5574a45baad5d743734e54f550082fd8</anchor>
      <arglist>(const ConstraintIdentityTpl&lt; Scalar, Options &gt; &amp;, const Eigen::MatrixBase&lt; Vector6Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MultiplicationOp&lt; InertiaTpl&lt; Scalar, Options &gt;, ConstraintDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af869a49011a04e25fba88fddf310706e</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, Options &gt; &amp;Y, const ConstraintBase&lt; ConstraintDerived &gt; &amp;constraint)</arglist>
    </member>
    <member kind="function">
      <type>InertiaTpl&lt; S1, O1 &gt;::Matrix6</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aab4cd452b1ed035ceac5441decf89758</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintIdentityTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>internal::RHSScalarMultiplication&lt; MotionDerived, typename MotionDerived::Scalar &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a26795a7dc3413be931b947cfe99519fd</anchor>
      <arglist>(const typename MotionDerived::Scalar &amp;alpha, const MotionBase&lt; MotionDerived &gt; &amp;motion)</arglist>
    </member>
    <member kind="function">
      <type>MultiplicationOp&lt; Eigen::MatrixBase&lt; MatrixDerived &gt;, ConstraintDerived &gt;::ReturnType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aee02a29419f7fa5fcb2b1776c2a15272</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixDerived &gt; &amp;Y, const ConstraintBase&lt; ConstraintDerived &gt; &amp;constraint)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a72e2abe45dd04092ece068521d0d637a</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintSphericalZYXTpl&lt; S2, O2 &gt; &amp;S)</arglist>
    </member>
    <member kind="function">
      <type>traits&lt; F1 &gt;::ForcePlain</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adf68571a3bd5d9815bb06759e70d9994</anchor>
      <arglist>(const typename traits&lt; F1 &gt;::Scalar alpha, const ForceDense&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>const MatrixMatrixProduct&lt; typename Eigen::internal::remove_const&lt; typename SizeDepType&lt; 3 &gt;::ColsReturn&lt; Matrix6Like &gt;::ConstType &gt;::type, typename ConstraintSphericalZYXTpl&lt; S2, O2 &gt;::Matrix3 &gt;::type</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae39f8c027783e89f261c8bdb30b6957e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix6Like &gt; &amp;Y, const ConstraintSphericalZYXTpl&lt; S2, O2 &gt; &amp;S)</arglist>
    </member>
    <member kind="function">
      <type>traits&lt; M1 &gt;::MotionPlain</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab470393ce0489be00b57d6f6816cb297</anchor>
      <arglist>(const typename traits&lt; M1 &gt;::Scalar alpha, const MotionDense&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S2, 6, 3, O2 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7bd5dff971cf250d19a31ef0ae3cc304</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintSphericalTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>SizeDepType&lt; 3 &gt;::ColsReturn&lt; M6Like &gt;::ConstType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aeba53d65da7f65e7a72346bffe435e21</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const ConstraintSphericalTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S1, 6, 3, O1 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2dd6a1fcbc776ceb8139d81ab43bd93f</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintPlanarTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S2, 6, 3, O2 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aea79fb298dfedd20e0cb630a6fe00b91</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const ConstraintPlanarTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; S2, 6, 3, O2 &gt;</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1857e75c95beb53786a1668d9bd6d5c9</anchor>
      <arglist>(const InertiaTpl&lt; S1, O1 &gt; &amp;Y, const ConstraintTranslationTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>const SizeDepType&lt; 3 &gt;::ColsReturn&lt; M6Like &gt;::ConstType</type>
      <name>operator*</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a75e5b3b9a3c636454793910560e6843d</anchor>
      <arglist>(const Eigen::MatrixBase&lt; M6Like &gt; &amp;Y, const ConstraintTranslationTpl&lt; S2, O2 &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>const M1 &amp;</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a74c8f40ecccc79da11a0b2e43dd255d6</anchor>
      <arglist>(const MotionBase&lt; M1 &gt; &amp;v, const MotionZeroTpl&lt; Scalar, Options &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>const M1 &amp;</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3cf330635d5b642af24c5f092ddcaaaa</anchor>
      <arglist>(const MotionZeroTpl&lt; Scalar, Options &gt; &amp;, const MotionBase&lt; M1 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab3d984c4e663955084f1c14a6fda6a01</anchor>
      <arglist>(const MotionPrismaticTpl&lt; Scalar, Options, axis &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a03d767266cd3e5699ba48427dfb5b796</anchor>
      <arglist>(const MotionPrismaticUnalignedTpl&lt; Scalar, Options &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a342841d7ac4dc1a0d292fd7af3905888</anchor>
      <arglist>(const MotionTranslationTpl&lt; S1, O1 &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab0eadd7041c3ed645cb6c49a61ce38f2</anchor>
      <arglist>(const MotionSphericalTpl&lt; S1, O1 &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abdd6f53cda0567830a086af879c1c84d</anchor>
      <arglist>(const MotionRevoluteUnalignedTpl&lt; S1, O1 &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8bd1b25eb9d9d331813820660290f4b3</anchor>
      <arglist>(const MotionPlanarTpl&lt; Scalar, Options &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator+</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aff6f27e7e909027c43e5a7eaa0a4745e</anchor>
      <arglist>(const MotionRevoluteTpl&lt; S1, O1, axis &gt; &amp;m1, const MotionDense&lt; MotionDerived &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>adbd58b2950987bc65a8a231a447c9b98</anchor>
      <arglist>(std::ostream &amp;os, const LieGroupBase&lt; Derived &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a42310f5cbb5cff13eecc50b4c5789969</anchor>
      <arglist>(std::ostream &amp;os, const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7184ed2d0c6612f8e867097e3e2d40d1</anchor>
      <arglist>(std::ostream &amp;os, const JointDataCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a5294d8714ab705fe639d9f3d1ea37570</anchor>
      <arglist>(std::ostream &amp;os, const FrameTpl&lt; Scalar, Options &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aefbef1012f681c44e6cf246f1c871ce2</anchor>
      <arglist>(std::ostream &amp;os, const JointModelCompositeTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a61904f7f0b71be775727d7868840ef54</anchor>
      <arglist>(const JointDataBase&lt; JointDataDerived &gt; &amp;joint_data, const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_data_generic)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a82bb54e4a96c13278c4d4e6af2f08760</anchor>
      <arglist>(const JointModelBase&lt; JointModelDerived &gt; &amp;joint_model, const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;joint_model_generic)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_STRONG_INLINE MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad744c22a8fe55fac4465421488d38361</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionPrismaticTpl&lt; S2, O2, axis &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a865d0753c4610306baa4ef746d02d486</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionPrismaticUnalignedTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3b2d52a2e42889882d64ba6a7ced028f</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionRevoluteUnalignedTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>traits&lt; M1 &gt;::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a367b548b411d8bf0199892b46ddd5d93</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v1, const MotionDense&lt; M2 &gt; &amp;v2)</arglist>
    </member>
    <member kind="function">
      <type>traits&lt; F1 &gt;::ForcePlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a215af978033cb85eade7cca6f4abe863</anchor>
      <arglist>(const MotionDense&lt; M1 &gt; &amp;v, const ForceBase&lt; F1 &gt; &amp;f)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a406b625638da7d2b5d707e96a234c79c</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionSphericalTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_STRONG_INLINE MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1a6808d81ed89932a03633db7ba956a1</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionRevoluteTpl&lt; S2, O2, axis &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1306c00b204d2236fff8a4e3676da12b</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionPlanarTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>MotionDerived::MotionPlain</type>
      <name>operator^</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a35a0ca1bf535217516d2b805d61cf3fc</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;m1, const MotionTranslationTpl&lt; S2, O2 &gt; &amp;m2)</arglist>
    </member>
    <member kind="function">
      <type>const Scalar</type>
      <name>PI</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8d70a2059ad808b77877e920e9b181bc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa6fc30f02654b639808af9369d0a9856</anchor>
      <arglist>(JointData) JointDataVector</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af883f96a55fecae09cd69a2d0385f403</anchor>
      <arglist>(JointModel) JointModelVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af1d842eb2091f313231f3c53d75a1a6d</anchor>
      <arglist>(Parent)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4a61f954962a9138e3d41a66281d2a65</anchor>
      <arglist>(CRBA)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_ALGO_CHECKER</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a113004bd47670412babf55d391da25fb</anchor>
      <arglist>(ABA)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4643d37bc1149fb5fa20fba8b0119f69</anchor>
      <arglist>(equal_to_op,==)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4b5b18b509d9faa902584a07511639dc</anchor>
      <arglist>(not_equal_to_op,!=)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a13a5c5e294c6fab481a1ccfeba833658</anchor>
      <arglist>(less_than_op,&lt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac08db9f51c5b03f9b523d6a0557fb96e</anchor>
      <arglist>(greater_than_op,&gt;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8ad92c395bd704cc9dc40ec700b30bb4</anchor>
      <arglist>(less_than_or_equal_to_op,&lt;=)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_DEFINE_COMPARISON_OP</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abdf1602cc7653f4f38e190c786a9dc06</anchor>
      <arglist>(greater_than_or_equal_to_op,&gt;=)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8381b3eabdf061609f70f0630b43711e</anchor>
      <arglist>(Matrix3) orthogonalProjection(const Eigen</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a96f0e80b7ac783dc4132cbc665dd279f</anchor>
      <arglist>(Matrix3x) cross(const Eigen</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_REF_CONST_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a85c993ffd2a892251f372cd97a0c58b4</anchor>
      <arglist>(Matrix6Like) operator*(const Eigen</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a065fae877c5c7b0a5e2268281150c5e4</anchor>
      <arglist>(JointModelRevoluteUnboundedUnalignedTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa5005bfe0ffbbdc62952c3c432e4eab7</anchor>
      <arglist>(JointModelFreeFlyerTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabd5c6c2ca8a2a37ed7161c40eccc83a</anchor>
      <arglist>(JointModelSphericalZYXTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a40b68700343da7cc43ccbcc0424f60e0</anchor>
      <arglist>(JointModelSphericalTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acc755fa323b6578dd34fde69b9cb1d92</anchor>
      <arglist>(JointModelPlanarTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a061675e120c260239d9db8808e64d4b4</anchor>
      <arglist>(JointModelTranslationTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7479c3b6acb866d22ed89925c41b166b</anchor>
      <arglist>(JointModelPrismaticUnalignedTpl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae2b0bb711fc32a781b84f9debdab402c</anchor>
      <arglist>(JointModelRevoluteUnalignedTpl)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED Scalar</type>
      <name>potentialEnergy</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa728ccf52980b0d99a2d6cace122f483</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>printVersion</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a359eb29491fe39a5e51e9a51d84c7f9f</anchor>
      <arglist>(const std::string &amp;delimiter=&quot;.&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a74a192c511a1c006955758486d4369c7</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; Config_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a97d16d606dd5552522fe76132bf517c1</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigOut_t &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>randomStringGenerator</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1b50c7ed93765739fe33efb660ff4793</anchor>
      <arglist>(const int len)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>retrieveResourcePath</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ace99575de78dca42b0b7fcc916454c8f</anchor>
      <arglist>(const std::string &amp;string, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>rnea</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a33f3f128c9cf62407691acaedd28e68d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rnea</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8db0fecde513356bf61dfe2dee2e6c7f</anchor>
      <arglist>(const int num_threads, ModelPoolTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;pool, const Eigen::MatrixBase&lt; ConfigVectorPool &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorPool1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorPool2 &gt; &amp;a, const Eigen::MatrixBase&lt; TangentVectorPool3 &gt; &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::TangentVectorType &amp;</type>
      <name>rnea</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a26d94ea6486d0eed1934b94767124a01</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType1 &gt; &amp;v, const Eigen::MatrixBase&lt; TangentVectorType2 &gt; &amp;a, const container::aligned_vector&lt; ForceDerived &gt; &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>rosPaths</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91e1585a6ddffc43343918b5ef347cca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>setGeometryMeshScales</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a20250c4ae321d8d64676b146af8b2a8b</anchor>
      <arglist>(GeometryModel &amp;geom_model, const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;meshScale)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED void</type>
      <name>setGeometryMeshScales</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a457b6a50c2aea67519b40ec87bec8594</anchor>
      <arglist>(GeometryModel &amp;geom_model, const double meshScale)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIndexes</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a631864068e479634131c54ca2c5616cd</anchor>
      <arglist>(JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel, JointIndex id, int q, int v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>shortname</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad6699ebd8ac20951fc7f6614b50ff423</anchor>
      <arglist>(const JointModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jmodel)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>sign</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a735412db0044de446437dce7580ebf14</anchor>
      <arglist>(const Scalar &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SINCOS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac27546a12207aa8ea55d0c4ac17ca4a8</anchor>
      <arglist>(const S1 &amp;a, S2 *sa, S3 *ca)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afff79033b11ec2b30cba3016080747f7</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename D::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(D)::Options &gt;</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac2d1062bf863b45298bcec8aa51c6beb</anchor>
      <arglist>(const Eigen::MatrixBase&lt; D &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>skewSquare</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0548b1222261b39c25fc82ba423d8e60</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;u, const Eigen::MatrixBase&lt; V2 &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;C)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename V1::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(V1)::Options &gt;</type>
      <name>skewSquare</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>af2f63462693d8acc6c88a0fbb284ae50</anchor>
      <arglist>(const Eigen::MatrixBase&lt; V1 &gt; &amp;u, const Eigen::MatrixBase&lt; V2 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>ConfigL_t::Scalar</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a127952688b094fcb1e2f7ee6e0e1c100</anchor>
      <arglist>(const LieGroupGenericTpl&lt; LieGroupCollection &gt; &amp;lg, const Eigen::MatrixBase&lt; ConfigL_t &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigR_t &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>hpp::fcl::Transform3f</type>
      <name>toFclTransform3f</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab19678d8401342ddcee597cfe7177a1f</anchor>
      <arglist>(const SE3 &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>toPinocchioSE3</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad6e89a529f2ec8e5f3dfcdf6437a5ce5</anchor>
      <arglist>(const hpp::fcl::Transform3f &amp;tf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>toRotationMatrix</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aec020515037ed0a317bcaaa4df646219</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3 &gt; &amp;axis, const Scalar &amp;cos_value, const Scalar &amp;sin_value, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;res)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>u_inertia</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a834c8ccc3358a4b1c1fdcd7a8667cde0</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 6, Eigen::Dynamic, Options &gt;</type>
      <name>udinv_inertia</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a91bb349a2440679ddb9a5bb14e1274f2</anchor>
      <arglist>(const JointDataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;jdata)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afbd162eb86b7643916c527756c2863a1</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3)::Options &gt;</type>
      <name>unSkew</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1667384a8bb74f4ae9b26337b4f3e3d5</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::SE3 &amp;</type>
      <name>updateFramePlacement</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab48760c9b4ad957cd95d6d3392b2c1e2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const FrameIndex frame_id)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateFramePlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a48c4aeb9f48c48a5965f44a3e18c82b2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGeometryPlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a765cd5ab48f2846d543f2f7aa2290e0a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGeometryPlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f9e45eaafb2d0d35dbb5ed522acfb9a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGlobalPlacements</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad57a36f3b7587d1615358e34f66bdbee</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6d83ab51df727a51d3f6caeaa0ff5d9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6cf7958cdd5fe812d3104d6586c17c3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aee0141985ba16dd60acfdadaab088d02</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2141d11fe93ac3cec942022202c3f878</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a058f23612d01ee8badcd0dfc52d9a95b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a718079ad7afb1730ac3ac8d1b58c1970</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a922787fd5fd5fc7123b91804fa6956fa</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8aa12c4444aa4425160cd60218a112d3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3ba46d5ad53ac70f33da313cb8f24a88</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac1ea82f003a9814a0b1e127d42d32d73</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac45aa354d1462be2797a57f58a38d638</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a68716ee519b707dd6233df1f15e068d6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a46d4733dfbc21527c620e42d53081c39</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f4c8b2ed5cd8c7f159b00d3f90134c8</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabfca70e2e56fb7ca6a7117bc8fc366a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad78262495dd9ca03407676f32198f9f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abf6bcbee8bfde47aa56237df2f6a94f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a20b2699c4f2132b9e4ae06bf4d438098</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acce0f4df4ab287460ef446eca2a20697</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad4129a72be78e13e97eab021fd6413c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7eaa9b06d6b403965e1ef356e615fd01</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab472f8bc3f619483d1a34c876e233ce6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa902ab2bd9f27aed5afcb263a8f76d0e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ace191a5497cd1d24d811990a73f9aedc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abe8106929836bb8bb3337f9033dfa91b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a31f1fe39670df02204886d1542b0b34f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a76732ba68d945ff5fb1aea3960c0c081</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>affd9b103f1aacb7404246186f0002bd5</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4716246cde3281fa574386c9c5b94000</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a49dc8c1549ec7ea90c16e35b34b8ce54</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8c0eedf0b4f303db4c9dc7fb794ac891</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9c29fb6451bb60d5c88ccd1d27fe1af4</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef BiasZeroTpl&lt; double, 0 &gt;</type>
      <name>BiasZero</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gaffe2f7443118675540acc272ebf08fee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>struct PINOCCHIO_DEPRECATED</type>
      <name>BiasZeroTpl</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gae2eb84afe831880c9b2336a8e20197c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>submodules</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac809f81d2d1b9aaef810660516f987a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a21c87cd93d964c97b230d90480b12c17</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6d83ab51df727a51d3f6caeaa0ff5d9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac6cf7958cdd5fe812d3104d6586c17c3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aee0141985ba16dd60acfdadaab088d02</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Scalar &amp;u, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2141d11fe93ac3cec942022202c3f878</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>difference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a058f23612d01ee8badcd0dfc52d9a95b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;dvout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a718079ad7afb1730ac3ac8d1b58c1970</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>squaredDistance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a922787fd5fd5fc7123b91804fa6956fa</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;out)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8aa12c4444aa4425160cd60218a112d3</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>randomConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3ba46d5ad53ac70f33da313cb8f24a88</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;lowerLimits, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;upperLimits, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac1ea82f003a9814a0b1e127d42d32d73</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac45aa354d1462be2797a57f58a38d638</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ReturnType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a68716ee519b707dd6233df1f15e068d6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a46d4733dfbc21527c620e42d53081c39</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrate</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a3f4c8b2ed5cd8c7f159b00d3f90134c8</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg, const AssignmentOperatorType op)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aabfca70e2e56fb7ca6a7117bc8fc366a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad78262495dd9ca03407676f32198f9f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType1 &gt; &amp;Jin, const Eigen::MatrixBase&lt; JacobianMatrixType2 &gt; &amp;Jout, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abf6bcbee8bfde47aa56237df2f6a94f2</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dIntegrateTransport</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a20b2699c4f2132b9e4ae06bf4d438098</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;v, const Eigen::MatrixBase&lt; JacobianMatrixType &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>acce0f4df4ab287460ef446eca2a20697</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dDifference</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ad4129a72be78e13e97eab021fd6413c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVector2 &gt; &amp;q1, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;J, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a7eaa9b06d6b403965e1ef356e615fd01</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>squaredDistanceSum</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ab472f8bc3f619483d1a34c876e233ce6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>aa902ab2bd9f27aed5afcb263a8f76d0e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>Scalar</type>
      <name>distance</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ace191a5497cd1d24d811990a73f9aedc</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q0, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>abe8106929836bb8bb3337f9033dfa91b</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a31f1fe39670df02204886d1542b0b34f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;qout)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a76732ba68d945ff5fb1aea3960c0c081</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>affd9b103f1aacb7404246186f0002bd5</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4716246cde3281fa574386c9c5b94000</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameConfiguration</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a49dc8c1549ec7ea90c16e35b34b8ce54</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;q1, const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;q2, const Scalar &amp;prec=Eigen::NumTraits&lt; Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8c0eedf0b4f303db4c9dc7fb794ac891</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateCoeffWiseJacobian</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9c29fb6451bb60d5c88ccd1d27fe1af4</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const Eigen::MatrixBase&lt; ConfigVector &gt; &amp;q, const Eigen::MatrixBase&lt; JacobianMatrix &gt; &amp;jacobian)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Options</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ac86da1412ba993453f5229f6e7b1bc08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl &amp;</type>
      <name>model</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a95b48e0f139d25d73f692ef72aaef315</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;</type>
      <name>q</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a81f258e1bcff5f7baaac54261aaeea1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorType &gt; const Eigen::MatrixBase&lt; TangentVectorType &gt; &amp;</type>
      <name>v</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae4ab323f4fd097f7322c9ee65067b8ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;</type>
      <name>q0</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6cbff702ff719492083bab6f7c895a2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;</type>
      <name>q1</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a8a3fb45bbb5bb07462801f48252e7b25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; const Scalar &amp;</type>
      <name>u</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>add8638cd66d68f2753c45606d32b2ad3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; &amp;</type>
      <name>lowerLimits</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a99af721a0a2f7110e1bbfa25e345205e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const Eigen::MatrixBase&lt; ConfigVectorIn1 &gt; const Eigen::MatrixBase&lt; ConfigVectorIn2 &gt; &amp;</type>
      <name>upperLimits</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a9c96f0b50b057708df819619a112dd6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a4327a9454590b9b7e91b3f6a131cfd50</anchor>
      <arglist>(ConfigVectorType) integrate(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a6d9ddf8c1e2058922cf37e18d62fed61</anchor>
      <arglist>(ConfigVectorType) integrate(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>ae6b8bc774284448f0f44b016e67d7873</anchor>
      <arglist>(ConfigVectorIn1) interpolate(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a2b9f38ca85a67fb4fb719c37c02046a2</anchor>
      <arglist>(ConfigVectorIn1) difference(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a49c6fd6cde8d214052963e66a55a3426</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a1eba94a0d1c72a1b8b614ecf1b3970c8</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a658309c1632d40be3158c9cb66a8bd7a</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>afa8e53bdb0b496cc62e6ed883637af38</anchor>
      <arglist>((typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::ConfigVectorType)) randomConfiguration(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a0030d83dd0705ec95c4ebad6bb0629d9</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1, Options &gt;</type>
      <name>neutral</name>
      <anchorfile>namespacepinocchio.html</anchorfile>
      <anchor>a566ad2fe023f1fd92e926efb22bcad7a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::buildModels</name>
    <filename>namespacepinocchio_1_1buildModels.html</filename>
    <member kind="function">
      <type>void</type>
      <name>humanoid</name>
      <anchorfile>namespacepinocchio_1_1buildModels.html</anchorfile>
      <anchor>a465d840b56978859523b353bbb6a013f</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, bool usingFF=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>humanoidRandom</name>
      <anchorfile>namespacepinocchio_1_1buildModels.html</anchorfile>
      <anchor>af77eaa0f180aaaad02fbb34c13d28033</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, bool usingFF=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>manipulator</name>
      <anchorfile>namespacepinocchio_1_1buildModels.html</anchorfile>
      <anchor>accd83f24a102dbe4845cedc1c9a52f4b</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::casadi</name>
    <filename>namespacepinocchio_1_1casadi.html</filename>
    <member kind="function">
      <type>void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio_1_1casadi.html</anchorfile>
      <anchor>ace24a2f05bd77904eb706f8582f00567</anchor>
      <arglist>(::casadi::Matrix&lt; Scalar &gt; const &amp;src, Eigen::MatrixBase&lt; MT &gt; &amp;dst)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>copy</name>
      <anchorfile>namespacepinocchio_1_1casadi.html</anchorfile>
      <anchor>af9cf8d74e5a39fd4d376efe911380566</anchor>
      <arglist>(Eigen::MatrixBase&lt; MT &gt; const &amp;src, ::casadi::Matrix&lt; Scalar &gt; &amp;dst)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sym</name>
      <anchorfile>namespacepinocchio_1_1casadi.html</anchorfile>
      <anchor>a4b04c8c0dea68d73c8cdb8a50c5b3968</anchor>
      <arglist>(const Eigen::MatrixBase&lt; MatrixDerived &gt; &amp;eig_mat, std::string const &amp;name)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::cholesky</name>
    <filename>namespacepinocchio_1_1cholesky.html</filename>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>computeMinv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>acfaa6a35556fe4b225cf8b3ca8559a5e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;Minv)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::RowMatrixXs &amp;</type>
      <name>computeMinv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a5a27025a3bcd36e7850dd0bab4af1125</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::MatrixXs &amp;</type>
      <name>decompose</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a8dc8ac71750bc049c316ed8db347444f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>MatRes &amp;</type>
      <name>Mv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>ac63c047d6954db023a7c9dcd2a81efd0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;min, const Eigen::MatrixBase&lt; MatRes &gt; &amp;mout)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a2d73303dd8a54f4e9cef1520b915df97</anchor>
      <arglist>(Mat) Mv(const ModelTpl&lt; Scalar</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>solve</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a723e56256b42fdac88310133b1cef848</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>UDUtv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a428d7c7f6901cfb378c775e9ce215b63</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Uiv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a6eb82b6c9e6f8445e990553b813bc2c0</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Utiv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a55528b3d71ccd495bde2536d0d67b6a7</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Utv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a7ffef17738ce992557ec1cf83beec351</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Mat &amp;</type>
      <name>Uv</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a60f92addc279fa892c342742e4ef8594</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; Mat &gt; &amp;v)</arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>data</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>ac89591624e4c1f69ac7d78f43381cb13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl const DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; const Eigen::MatrixBase&lt; Mat &gt; &amp;</type>
      <name>min</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a9b57a583ac2fea84524a016f1c955bea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointCollectionTpl &amp;</type>
      <name>model</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>aca93c064c1bb719c51f8f2ad0ed3fc3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Options</name>
      <anchorfile>namespacepinocchio_1_1cholesky.html</anchorfile>
      <anchor>a9fe04e2aeea44b48d3a15a048e0dafc6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::container</name>
    <filename>namespacepinocchio_1_1container.html</filename>
    <class kind="struct">pinocchio::container::aligned_vector</class>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>namespacepinocchio_1_1container.html</anchorfile>
      <anchor>a9b29c4af5489d886e2c8b608b2f21150</anchor>
      <arglist>(const aligned_vector&lt; T &gt; &amp;lhs, const aligned_vector&lt; T &gt; &amp;rhs)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::deprecated</name>
    <filename>namespacepinocchio_1_1deprecated.html</filename>
    <class kind="class">pinocchio::deprecated::GeometryObject</class>
    <member kind="function">
      <type>def</type>
      <name>buildGeomFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ac2b2307766e72c5868be3722b540c869</anchor>
      <arglist>(model, filename, args, kwargs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCentroidalDynamics</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ad5ee2a4f08c54415edcfe2a95a3a6a75</anchor>
      <arglist>(model, data, q, v, a=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>forwardDynamics</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>aaa542d84e0f986a94a439cbefa6b044d</anchor>
      <arglist>(model, data, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>frameJacobian</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a2f9bdeb7ffc289e350908f4defca7023</anchor>
      <arglist>(model, data, q, frameId)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>impulseDynamics</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ad3f4bf8ae006d84ffcb658e507e2f8b5</anchor>
      <arglist>(model, data, args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jointJacobian</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ab1e1b2dbe82e34bc22a62e833a987c39</anchor>
      <arglist>(model, data, q, jointId)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>kineticEnergy</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a5bb528a336c628b20e04e8d33065f296</anchor>
      <arglist>(model, data, q, v, update_kinematics=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>potentialEnergy</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>af9dd9ee369d71caf9826e2f49eee6795</anchor>
      <arglist>(model, data, q, update_kinematics=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>se3ToXYZQUAT</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>af5e0f85863950ad9e50386f0913f3ad9</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>se3ToXYZQUATtuple</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a3bd65a11611b2634aef17342685a634b</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setGeometryMeshScales</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a51b672663a89d67f2111a2f978908b6f</anchor>
      <arglist>(geom_model, mesh_scale)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>XYZQUATToSe3</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>a76ece0785bf68483c54547bbe2c1048c</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>npToTTuple</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>ae41e4ddb07e6705046694c318c7a8c07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>npToTuple</name>
      <anchorfile>namespacepinocchio_1_1deprecated.html</anchorfile>
      <anchor>aea9d70a9197e23111b492196c66867ae</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::deprecation</name>
    <filename>namespacepinocchio_1_1deprecation.html</filename>
    <class kind="class">pinocchio::deprecation::DeprecatedWarning</class>
    <member kind="function">
      <type>def</type>
      <name>deprecated</name>
      <anchorfile>namespacepinocchio_1_1deprecation.html</anchorfile>
      <anchor>a379d108e207c124eafd96ce720844a21</anchor>
      <arglist>(instructions)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::explog</name>
    <filename>namespacepinocchio_1_1explog.html</filename>
    <member kind="function">
      <type>def</type>
      <name>exp</name>
      <anchorfile>namespacepinocchio_1_1explog.html</anchorfile>
      <anchor>aa0d6560b9ca42ae94f26aabfdf245b0c</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>log</name>
      <anchorfile>namespacepinocchio_1_1explog.html</anchorfile>
      <anchor>a4a30dac644c7c498446783b4bf5eacda</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1explog.html</anchorfile>
      <anchor>ac98be681c5712e3df8fc355e3b73fb15</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::fcl</name>
    <filename>namespacepinocchio_1_1fcl.html</filename>
    <class kind="struct">pinocchio::fcl::AABB</class>
    <class kind="struct">pinocchio::fcl::FakeCollisionGeometry</class>
    <member kind="typedef">
      <type>FakeCollisionGeometry</type>
      <name>CollisionGeometry</name>
      <anchorfile>namespacepinocchio_1_1fcl.html</anchorfile>
      <anchor>adfd6c77093d24e50c530b0b060f9952b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::fix</name>
    <filename>namespacepinocchio_1_1fix.html</filename>
    <namespace>pinocchio::fix::Eigen</namespace>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::fix::Eigen</name>
    <filename>namespacepinocchio_1_1fix_1_1Eigen.html</filename>
    <namespace>pinocchio::fix::Eigen::internal</namespace>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::fix::Eigen::internal</name>
    <filename>namespacepinocchio_1_1fix_1_1Eigen_1_1internal.html</filename>
    <class kind="struct">pinocchio::fix::Eigen::internal::plain_matrix_type_row_major</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::forceSet</name>
    <filename>namespacepinocchio_1_1forceSet.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>ada943976f92528eb8a01a300bb7c5f56</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a7c33805b6cfb4b159fbb7b9af4bd014b</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a13277d4a929fcf1a65fe98f7eade52c5</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a1eb9c4d5ed73dd2585bba1abd999e5aa</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>a85f718fc0de4f19ad799daa4fc374f89</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1forceSet.html</anchorfile>
      <anchor>ae3047594e36e574e7ff0bedf7cea2285</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::fusion</name>
    <filename>namespacepinocchio_1_1fusion.html</filename>
    <class kind="struct">pinocchio::fusion::JointBinaryVisitorBase</class>
    <class kind="struct">pinocchio::fusion::JointUnaryVisitorBase</class>
    <class kind="struct">pinocchio::fusion::JointVisitorBase</class>
    <member kind="typedef">
      <type>boost::blank</type>
      <name>NoArg</name>
      <anchorfile>namespacepinocchio_1_1fusion.html</anchorfile>
      <anchor>a374c34fc282c9fda13fbf122e368cf6a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::helper</name>
    <filename>namespacepinocchio_1_1helper.html</filename>
    <class kind="struct">pinocchio::helper::argument_type</class>
    <class kind="struct">pinocchio::helper::argument_type&lt; T(U)&gt;</class>
    <class kind="struct">pinocchio::helper::handle_return_type_without_typename</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::impl</name>
    <filename>namespacepinocchio_1_1impl.html</filename>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintPrismaticUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteTpl&lt; Scalar, Options, axis &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ConstraintRevoluteUnalignedTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; Eigen::MatrixBase&lt; M6Like &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 0 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 1 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticTpl&lt; S2, O2, 2 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintPrismaticUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 0 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 1 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteTpl&lt; S2, O2, 2 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ConstraintRevoluteUnalignedTpl&lt; S2, O2 &gt; &gt;</class>
    <class kind="struct">pinocchio::impl::LhsMultiplicationOp&lt; InertiaTpl&lt; S1, O1 &gt;, ScaledConstraint&lt; _Constraint &gt; &gt;</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::internal</name>
    <filename>namespacepinocchio_1_1internal.html</filename>
    <class kind="struct">pinocchio::internal::CallCorrectMatrixInverseAccordingToScalar</class>
    <class kind="struct">pinocchio::internal::CallCorrectMatrixInverseAccordingToScalar&lt; ::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; CppAD::AD&lt; Scalar &gt;, Options &gt;, NewScalar, CppAD::AD&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, CppAD::AD&lt; NewScalar &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, NewScalar, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;, Scalar, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt; Scalar, Options &gt;,::casadi::Matrix&lt; NewScalar &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::cast_call_normalize_method&lt; SE3Tpl&lt;::casadi::Matrix&lt; Scalar &gt;, Options &gt;, NewScalar,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::internal::if_then_else_impl</class>
    <class kind="struct">pinocchio::internal::if_then_else_impl&lt; condition_type, condition_type, ThenType, ElseType &gt;</class>
    <class kind="struct">pinocchio::internal::if_then_else_impl&lt; CppAD::AD&lt; Scalar &gt;, CppAD::AD&lt; Scalar &gt;, ThenType, ElseType &gt;</class>
    <class kind="struct">pinocchio::internal::if_then_else_impl&lt;::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt;, ThenType, ElseType &gt;</class>
    <class kind="struct">pinocchio::internal::is_same_type</class>
    <class kind="struct">pinocchio::internal::is_same_type&lt; T, T &gt;</class>
    <class kind="struct">pinocchio::internal::isNormalizedAlgo</class>
    <class kind="struct">pinocchio::internal::isNormalizedAlgo&lt; VectorLike, false &gt;</class>
    <class kind="struct">pinocchio::internal::isUnitaryAlgo</class>
    <class kind="struct">pinocchio::internal::isUnitaryAlgo&lt; MatrixLike, false &gt;</class>
    <class kind="struct">pinocchio::internal::isZeroAlgo</class>
    <class kind="struct">pinocchio::internal::isZeroAlgo&lt; MatrixLike, false &gt;</class>
    <class kind="struct">pinocchio::internal::LHSScalarMultiplication</class>
    <class kind="struct">pinocchio::internal::LHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::PerformStYSInversion</class>
    <class kind="struct">pinocchio::internal::PerformStYSInversion&lt; Scalar, false &gt;</class>
    <class kind="struct">pinocchio::internal::RHSScalarMultiplication</class>
    <class kind="struct">pinocchio::internal::RHSScalarMultiplication&lt; MotionRef&lt; Vector6ArgType &gt;, Scalar &gt;</class>
    <class kind="struct">pinocchio::internal::SE3actOn</class>
    <class kind="struct">pinocchio::internal::SE3actOn&lt; CppAD::AD&lt; _Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::internal::traits</class>
    <class kind="struct">pinocchio::internal::traits&lt; if_then_else_impl&lt; LhsType, RhsType, return_type, return_type &gt; &gt;</class>
    <member kind="enumeration">
      <type></type>
      <name>ComparisonOperators</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LT</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7ab9c639194620ff41bd54d47ec0e1b26e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LE</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7a9c529309a9ddd7de39cf35700240cc12</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>EQ</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7a8cb9482f7c3246a7a35f5c1be99b24eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>GE</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7abada7167913fa2b578495add632ee292</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>GT</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>ab6101ec91f33a4fd803cc0f73d3013c7a9bf55dd2e35168aa66eb3e379d295804</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>if_then_else_impl&lt; LhsType, RhsType, ThenType, ElseType &gt;::ReturnType</type>
      <name>if_then_else</name>
      <anchorfile>namespacepinocchio_1_1internal.html</anchorfile>
      <anchor>a352ecd060ee8d99094ea13d0a47476ea</anchor>
      <arglist>(const ComparisonOperators op, const LhsType &amp;lhs_value, const RhsType &amp;rhs_value, const ThenType &amp;then_value, const ElseType &amp;else_value)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::lua</name>
    <filename>namespacepinocchio_1_1lua.html</filename>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::math</name>
    <filename>namespacepinocchio_1_1math.html</filename>
    <namespace>pinocchio::math::internal</namespace>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::math::internal</name>
    <filename>namespacepinocchio_1_1math_1_1internal.html</filename>
    <class kind="struct">pinocchio::math::internal::call_max&lt; ::casadi::Matrix&lt; S1 &gt;, S2 &gt;</class>
    <class kind="struct">pinocchio::math::internal::call_max&lt; ::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::math::internal::call_max&lt; S1,::casadi::Matrix&lt; S2 &gt; &gt;</class>
    <class kind="struct">pinocchio::math::internal::return_type_max&lt; ::casadi::Matrix&lt; Scalar &gt;, T &gt;</class>
    <class kind="struct">pinocchio::math::internal::return_type_max&lt; ::casadi::Matrix&lt; Scalar &gt;,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
    <class kind="struct">pinocchio::math::internal::return_type_max&lt; T,::casadi::Matrix&lt; Scalar &gt; &gt;</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::motionSet</name>
    <filename>namespacepinocchio_1_1motionSet.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>act</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a780f1eb47db6a1699180e971c05adf64</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, const ForceDense&lt; ForceDerived &gt; &amp;f, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>act</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a153f58c8b0953daf520c92180a07457b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, const ForceDense&lt; ForceDerived &gt; &amp;f, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>inertiaAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a6cb43ad12cb0ebf0421022db2ecbb573</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, Options &gt; &amp;I, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>inertiaAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a8d588022909af2938fb3c60d52972539</anchor>
      <arglist>(const InertiaTpl&lt; Scalar, Options &gt; &amp;I, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>ae22237945419e578dc6a625773e41ef7</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>motionAction</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a4b7c3bb5f551ae32df2c6b5cfd8942ae</anchor>
      <arglist>(const MotionDense&lt; MotionDerived &gt; &amp;v, const Eigen::MatrixBase&lt; Mat &gt; &amp;iF, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jF)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>ad05b9382f7f8e3aea8969d5bbdc3a61b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3Action</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>ad52fcd2e45f862c472769d0418718a56</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a8c02f537e690fe74821f2519a4d696f6</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>se3ActionInverse</name>
      <anchorfile>namespacepinocchio_1_1motionSet.html</anchorfile>
      <anchor>a4dc16d6cda1e40935105f87c3b493d1b</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;m, const Eigen::MatrixBase&lt; Mat &gt; &amp;iV, Eigen::MatrixBase&lt; MatRet &gt; const &amp;jV)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::python</name>
    <filename>namespacepinocchio_1_1python.html</filename>
    <namespace>pinocchio::python::details</namespace>
    <namespace>pinocchio::python::internal</namespace>
    <class kind="struct">pinocchio::python::call</class>
    <class kind="struct">pinocchio::python::call&lt; ForceTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::call&lt; InertiaTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::call&lt; MotionTpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::call&lt; SE3Tpl&lt; Scalar, Options &gt; &gt;</class>
    <class kind="struct">pinocchio::python::CollisionPairPythonVisitor</class>
    <class kind="struct">pinocchio::python::convert_boost_python_object</class>
    <class kind="struct">pinocchio::python::convert_type</class>
    <class kind="struct">pinocchio::python::convert_type&lt; void &gt;</class>
    <class kind="struct">pinocchio::python::CopyableVisitor</class>
    <class kind="struct">pinocchio::python::DataPythonVisitor</class>
    <class kind="struct">pinocchio::python::deprecated_function</class>
    <class kind="struct">pinocchio::python::deprecated_member</class>
    <class kind="struct">pinocchio::python::deprecated_warning_policy</class>
    <class kind="struct">pinocchio::python::ForcePythonVisitor</class>
    <class kind="struct">pinocchio::python::FramePythonVisitor</class>
    <class kind="struct">pinocchio::python::GeometryDataPythonVisitor</class>
    <class kind="struct">pinocchio::python::GeometryModelPythonVisitor</class>
    <class kind="struct">pinocchio::python::GeometryObjectPythonVisitor</class>
    <class kind="struct">pinocchio::python::GeometryPoolPythonVisitor</class>
    <class kind="struct">pinocchio::python::InertiaPythonVisitor</class>
    <class kind="struct">pinocchio::python::JointDataDerivedPythonVisitor</class>
    <class kind="struct">pinocchio::python::JointDataExposer</class>
    <class kind="struct">pinocchio::python::JointModelCompositeAddJointVisitor</class>
    <class kind="struct">pinocchio::python::JointModelCompositeConstructorVisitor</class>
    <class kind="struct">pinocchio::python::JointModelDerivedPythonVisitor</class>
    <class kind="struct">pinocchio::python::JointModelExposer</class>
    <class kind="struct">pinocchio::python::JointModelPythonVisitor</class>
    <class kind="struct">pinocchio::python::JointVariantVisitor</class>
    <class kind="struct">pinocchio::python::LieGroupPythonVisitor</class>
    <class kind="struct">pinocchio::python::LieGroupWrapperTpl</class>
    <class kind="struct">pinocchio::python::ModelPoolPythonVisitor</class>
    <class kind="struct">pinocchio::python::ModelPythonVisitor</class>
    <class kind="struct">pinocchio::python::MotionPythonVisitor</class>
    <class kind="struct">pinocchio::python::PickleData</class>
    <class kind="struct">pinocchio::python::PickleMap</class>
    <class kind="struct">pinocchio::python::PickleModel</class>
    <class kind="struct">pinocchio::python::PickleVector</class>
    <class kind="struct">pinocchio::python::PrintableVisitor</class>
    <class kind="struct">pinocchio::python::SE3PythonVisitor</class>
    <class kind="struct">pinocchio::python::SerializableVisitor</class>
    <class kind="struct">pinocchio::python::StdAlignedVectorPythonVisitor</class>
    <class kind="struct">pinocchio::python::StdContainerFromPythonList</class>
    <class kind="struct">pinocchio::python::StdVectorPythonVisitor</class>
    <member kind="typedef">
      <type>Eigen::Map&lt; const SE3::Quaternion &gt;</type>
      <name>QuatConstMap</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac3e829825a43eac2f8a2a44e45e2c39f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; SE3::Quaternion &gt;</type>
      <name>QuatMap</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1110a95b42057b0a7b9d56be8be8f740</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3::Scalar</type>
      <name>Scalar</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac424624ed395cadae1dc1a677df61a4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 7, 1 &gt;</type>
      <name>Vector7d</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad7a3765e879f3dc48d555c612d53b3ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; bool, Eigen::Dynamic, 1 &gt;</type>
      <name>VectorXb</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1838c7d7dc53b4029bc0b067bc8a5e17</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt;</type>
      <name>VectorXd</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac83ce98ed306ac5f3260fae52aa0a652</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>aba_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6855571db4feb9dfb8eabef19625d06e</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;tau)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>aba_proxy_res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a394203d5f81f87b117d81ef373b7bac8</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;tau, Eigen::Ref&lt; Eigen::MatrixXd &gt; a)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModelComposite &amp;</type>
      <name>addJoint_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a82c1172129db47e9a488c8a51d72cfd7</anchor>
      <arglist>(JointModelComposite &amp;joint_composite, const JointModel &amp;jmodel, const SE3 &amp;joint_placement=SE3::Identity())</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>appendModel_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5014e731ced28a659ac18e626b1f5e61</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelA, const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;modelB, const GeometryModel &amp;geomModelA, const GeometryModel &amp;geomModelB, const FrameIndex frameInModelA, const SE3Tpl&lt; Scalar, Options &gt; &amp;aMb)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>bodyRegressor_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae90511291c8591482321304792f6dc33</anchor>
      <arglist>(const Motion &amp;v, const Motion &amp;a)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_FUNCTION_OVERLOADS</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab939d0e236f9c448d055cd390e0121dd</anchor>
      <arglist>(removeCollisionPairs_overload, srdf::removeCollisionPairs, 3, 4) BOOST_PYTHON_FUNCTION_OVERLOADS(removeCollisionPairsFromXML_overload</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_FUNCTION_OVERLOADS</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad2b687e0ff78feb9b95b32aed83d9267</anchor>
      <arglist>(loadReferenceConfigurations_overload, srdf::loadReferenceConfigurations, 2, 3) void loadReferenceConfigurationsFromXML(Model &amp;model</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_FUNCTION_OVERLOADS</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af429741186cf0e625aacc37b31800de0</anchor>
      <arglist>(computeKKTContactDynamicMatrixInverse_overload, computeKKTContactDynamicMatrixInverse_proxy, 4, 5) static const Eigen</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>buffer_copy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a48ccd199a7708737bcd9efcf8c1d5adc</anchor>
      <arglist>(boost::asio::streambuf &amp;dest, const boost::asio::streambuf &amp;source)</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1c3232d624b8c2c88f0cc6771e395174</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;var_name=&quot;model&quot;)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED Model</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a496a2144a546816d6ee0c878234d373b</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;var_name, const bool)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8efe3d4147440a871f789b6ea8fbbb69</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const GeometryModel &amp;geom_model, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>buildReducedModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a41ad8af7fd2b99754f4237855876f7e6</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::vector&lt; GeometryModel, Eigen::aligned_allocator&lt; GeometryModel &gt; &gt; &amp;list_of_geom_models, const std::vector&lt; JointIndex &gt; &amp;list_of_joints_to_lock, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;reference_configuration)</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoid</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5edf32eb1b754f41fd63521f0e91a1e1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoid</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a86ccb674ccf93960d6f931ee8f2be4cf</anchor>
      <arglist>(bool usingFF)</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoidRandom</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9f7e618492a68c26ccb605400d25509f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelHumanoidRandom</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a902b37581775e75714fef2d478f4d1a1</anchor>
      <arglist>(bool usingFF)</arglist>
    </member>
    <member kind="function">
      <type>Model</type>
      <name>buildSampleModelManipulator</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6aa092f9b068e5b87bcb2d57b60482cd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3::Vector3</type>
      <name>com_0_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2ca27dd375b7af6d15867acb04eaac90</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3::Vector3</type>
      <name>com_1_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae8cc8431b33c3b70ca04551806994c3d</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SE3::Vector3</type>
      <name>com_2_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad815799bb6679bd404f67e75d27c1c81</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Data::Vector3 &amp;</type>
      <name>com_default_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae69a8cd140ea423c7417046796e372ea</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Data::Vector3 &amp;</type>
      <name>com_level_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5a0c7622201b88ad9f11f5d8cffef547</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, KinematicLevel kinematic_level, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>com_level_proxy_deprecated_signature</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a66be355f8593aa73da544216a0518190</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, int kinematic_level, bool computeSubtreeComs=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>compute_frame_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a762fd9e3892ab62491c51acde89d06c6</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::FrameIndex frame_id)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>compute_frame_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2a378552fd2452dd7b062f4f149503fc</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::FrameIndex frame_id, ReferenceFrame reference_frame)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>compute_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af365ee8bef58e0c7247c096c44c27554</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeABADerivatives_fext</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a004411bee7436d175441d0cfd8f8691e</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau, const ForceAlignedVector &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeABADerivativesDefault</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a81830792d65db6754ac5d7c9dc501394</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeAllTerms_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a02143b50e0780e1889f9df297733e9db</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeCentroidalDynamicsDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac11aa33e2152bfca0b6e6af21d2466cd</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>computeCollisions_full_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7aa0215974b81a7c03bc8a5eb819cdec</anchor>
      <arglist>(const int num_threads, const Model &amp;model, Data &amp;data, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const Eigen::VectorXd &amp;q, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static VectorXb</type>
      <name>computeCollisions_pool_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9a037f9c81a338829d7a92dad53289e6</anchor>
      <arglist>(const int num_thread, GeometryPool &amp;pool, const Eigen::MatrixXd &amp;q, bool stop_at_first_collision=false)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeCollisions_pool_proxy_res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af35a33e6edaea5336e46cacfaefdef88</anchor>
      <arglist>(const int num_thread, GeometryPool &amp;pool, const Eigen::MatrixXd &amp;q, Eigen::Ref&lt; VectorXb &gt; res, bool stop_at_first_collision=false)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>computeCollisions_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9eee32f454adbbc27692bf9b2d50856c</anchor>
      <arglist>(const int num_threads, const GeometryModel &amp;geom_model, GeometryData &amp;geom_data, const bool stopAtFirstCollision=false)</arglist>
    </member>
    <member kind="function">
      <type>Data::MatrixXs</type>
      <name>computeGeneralizedGravityDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a97d7ee4d3557132e76dda26cb600b431</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>computeKKTContactDynamicMatrixInverse_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a299497757306f45da59a3708e789e563</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::MatrixXd &amp;J, const double mu=0)</arglist>
    </member>
    <member kind="function">
      <type>const Data::RowMatrixXs &amp;</type>
      <name>computeMinverse_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab3682f5c1dfa722c6266ea7b1e33332</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeRNEADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>acdb4a64e3773d0ae8cc7598939ea2047</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>computeRNEADerivatives_fext</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a12973984a50dbe7ec53b9d8f6661eab3</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;a, const ForceAlignedVector &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>Data::MatrixXs</type>
      <name>computeStaticTorqueDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5b87442815cb0c520885b989fb011c0f</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const ForceAlignedVector &amp;fext)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>crba_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a66a6ce1a2776a73537f560ad441e5478</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>dDifference_arg_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad9c8aa03ce1aae99e496b72c3615188b</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q1, const Eigen::VectorXd &amp;q2, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>dDifference_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aaa888a90faf4542e7c4ddf02cc3f520c</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q1, const Eigen::VectorXd &amp;q2)</arglist>
    </member>
    <member kind="function">
      <type>py::object</type>
      <name>default_arg</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af9011e874b66a9b6709f6ecedc211aeb</anchor>
      <arglist>(T t)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>dIntegrate_arg_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae92603ea8d0124fa1e3b20f954ab13a6</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>dIntegrate_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1c9f864d4ca90889cf13676c69058104</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>dIntegrateTransport_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5ff72ce18979203d379faee8954d643d</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::MatrixXd &amp;Jin, const ArgumentPosition arg)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>exp3_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa2d7e2582dd7a3b353de05b2a6dc852f</anchor>
      <arglist>(const Vector3Like &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;</type>
      <name>exp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1baa65f8c69c8bd20b4ad0d5e454418e</anchor>
      <arglist>(const MotionTpl&lt; Scalar, Options &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options &gt;</type>
      <name>exp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2c38baa75519d9e64c88ce0bcd153ded</anchor>
      <arglist>(const Vector6Like &amp;vec6)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; T &gt; &amp;</type>
      <name>expose_joint_data</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5ccfe171a4366d95ecc0b2c960096815</anchor>
      <arglist>(bp::class_&lt; T &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataComposite &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataComposite &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2aed1b9eafbdd05d1d11cb6f1311e94c</anchor>
      <arglist>(bp::class_&lt; JointDataComposite &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataPlanar &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataPlanar &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af8d81cc13aa000792eb8cd47e582ffaf</anchor>
      <arglist>(bp::class_&lt; JointDataPlanar &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataPrismaticUnaligned &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataPrismaticUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a99fe56a2c61f6db49236dc7e16fc24f3</anchor>
      <arglist>(bp::class_&lt; JointDataPrismaticUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataRevoluteUnaligned &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataRevoluteUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae1a908ed5ed5a2ac993a55f2b5b65c9b</anchor>
      <arglist>(bp::class_&lt; JointDataRevoluteUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointDataSphericalZYX &gt; &amp;</type>
      <name>expose_joint_data&lt; JointDataSphericalZYX &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7b95caa54b44f5875dcc3e59e7be80e8</anchor>
      <arglist>(bp::class_&lt; JointDataSphericalZYX &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; T &gt; &amp;</type>
      <name>expose_joint_model</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a03e1417bd01468d33a8851431138cb3b</anchor>
      <arglist>(bp::class_&lt; T &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointModelComposite &gt; &amp;</type>
      <name>expose_joint_model&lt; JointModelComposite &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a3a071991ee29586fda16593ec13a9fe6</anchor>
      <arglist>(bp::class_&lt; JointModelComposite &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointModelPrismaticUnaligned &gt; &amp;</type>
      <name>expose_joint_model&lt; JointModelPrismaticUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aad5c2fbfde16b7a74802996f0f733d19</anchor>
      <arglist>(bp::class_&lt; JointModelPrismaticUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>bp::class_&lt; JointModelRevoluteUnaligned &gt; &amp;</type>
      <name>expose_joint_model&lt; JointModelRevoluteUnaligned &gt;</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a95cf826623249538042af60fec3d0eda</anchor>
      <arglist>(bp::class_&lt; JointModelRevoluteUnaligned &gt; &amp;cl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeABA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aad361e540474a4b7301660ec624c019f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeABADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa2546b34e5753b18daaf29307743277f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeAlgorithms</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1d1bf53d64e008476f02627d111f41e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCAT</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad2e6b130271ba110ec8e2ff488990dd3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCentroidal</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a07cdc8983481120b5090c4d61ac80a9e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCentroidalDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>afd49356538d9fd03a19be3ea02ce4a8b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCholesky</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aaef6a4dd97db398c633cc4447e2608ae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCOM</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9a6f4d066bf201ff79150d68fa7e6d9c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConversions</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a137bf427231f79b81a244ba9160aedc8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeCRBA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa0f4f31acb021236da73e4c5912afe5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeData</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a94a2a779f541270df337f999af456065</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeDependencies</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a40c596375570d403eceedd966cce30a2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeDynamics</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a34b9a847a7044c4e33c328be93072aac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeEnergy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a546b932061af549c1dabbf3a75e838e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeExplog</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abc465037c2b007984587e86baca53bf7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFCL</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac6955aca9acc35a8f6fcea3f0eec447e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeForce</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab5b4952ff04ab6077048edf4803243ad</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFrame</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a0534105ac78dc4babade401cafd0a77e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFramesAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>acdd35ec3c26f0ac9fc96520639e6ed67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFramesDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa1c299d6629761811710cc2de3116601</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1b2b468d39cceb64921664ad4967a9b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeGeometryAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a58008917b7844f846ce8eeccb8def495</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeInertia</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab2dec7d2988a32e8c94706f19024544</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJacobian</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1713e4974412bc2f8486f4a611e98b12</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJoints</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2b9593d8d5e44cd892c3b7ff99e87bb8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeJointsAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac113d72a674a339a6753e52f6449080d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematicRegressor</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a101dd9225fe115b9d1863abce1d2309e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematics</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a681be384c52474b37ec6cf4dbfb63682</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeKinematicsDerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1b58073132e82a2da1669cf9a26ab591</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeLieGroups</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa635f53b6af298098fe6deb9e2fd99bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a37a8c8e958a8034593d58d3c3c8d14e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeModelAlgo</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac8e25dfde0dda7d646ced1d0c6dada9a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeMotion</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a48e12695bbbfe77ac2863ade153c8815</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelABA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a94043be2876355fb6f6ee81c2224b8be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelAlgorithms</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a742a7911f85473371bbb4c4ce28c2643</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1bea07c4d8dae6daf0fd1e763af599a1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParallelRNEA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9dd6221c5f03d8a55800016a566e2bc2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeParsers</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a76f39d86ca439a1ba87ea9597603b612</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposePool</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7c1ba8dacef2c79924663bd4965ae682</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRegressor</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac3379298f10853d67babcf51eae51591</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRNEA</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa0cf259d162f1ee8d267625304d7ddd0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRNEADerivatives</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8fc0213b8900df7984b4c0679e4436fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRpy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a68cebf8da7ce06f8e9e0d04d8f736b0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSampleModels</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a0598610f77fda3012b1c89c76bd40a9d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSE3</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1cc286a42908b2fdba5076a572f49e70</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSerialization</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa6795d04d323a25f16c9b93bab66e018</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSkew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa7e41b24d034139bd18f95e6267ddd25</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSRDFParser</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a35ea03f2453c5e94fd00b5d916f87248</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFGeometry</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a90d5ef8c6c41b7281042b1b405a7fe72</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFModel</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af508962ea76ff09635b7d2473f2f9020</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeURDFParser</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad60c31954e256b7822ccb979ca562051</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeVersion</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a2cb3c900d6b76ba935bffb8efd24d160</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extract</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab9c4cc26bcf54a0ed0a60188813acfdd</anchor>
      <arglist>(const boost::python::list &amp;list, std::vector&lt; T, Allocator &gt; &amp;vec)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; T, std::allocator&lt; T &gt; &gt;</type>
      <name>extract</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae9eddbc84c64fdb116db59481ef5c061</anchor>
      <arglist>(const boost::python::list &amp;list)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; T, Allocator &gt;</type>
      <name>extract</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a87485f0ae181118e3eaa2ac129f9ca56</anchor>
      <arglist>(const boost::python::list &amp;list)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>forwardDynamics_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ad920d10ec39f9c97478da42603dce155</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Eigen::VectorXd &amp;tau, const Eigen::MatrixXd &amp;J, const Eigen::VectorXd &amp;gamma, const double inv_damping=0.0)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>forwardDynamics_proxy_no_q</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a472dfa3315d023216116c956909cb3df</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;tau, const Eigen::MatrixXd &amp;J, const Eigen::VectorXd &amp;gamma, const double inv_damping=0.0)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>frame_jacobian_time_variation_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af109e5371c1cb7b8f62f4a189874f814</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const Model::FrameIndex frame_id, const ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>frameBodyRegressor_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aeca2a269d59645320b3ce9c1a996fe8f</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const FrameIndex frameId)</arglist>
    </member>
    <member kind="function">
      <type>ReturnType &amp;</type>
      <name>from</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a81c7afeb5071abd6c5f4928d7e7f56ff</anchor>
      <arglist>(py::handle model)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_frame_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac976e18a99f7ccb28a4fe999d7da324a</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::FrameIndex frame_id, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_frame_jacobian_time_variation_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a66cbc0a78ecba8780c6b97b9f00f38c3</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::FrameIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_jacobian_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aace5886561a29e81c1a183890e96bb82</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix3x</type>
      <name>get_jacobian_subtree_com_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9b52c2428749968b25a02fec2fdc95c6</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix6x</type>
      <name>get_jacobian_time_variation_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac930e402dd6cc715ad885ccab8daffea</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getCentroidalDynamicsDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a872d1fdb8f55df9c151be819b6b55863</anchor>
      <arglist>(const Model &amp;model, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>Data::Matrix3x</type>
      <name>getCoMVelocityDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac461454d37aca2775c5dcf372804f1eb</anchor>
      <arglist>(const Model &amp;model, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getFrameAccelerationDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa455555473bf4575969252c59b8fae5f</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::FrameIndex frame_id, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getFrameVelocityDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a4604148837bb7d1e79e6c010c70aecaf</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::FrameIndex frame_id, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getJointAccelerationDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af0a4c10097e68810284c6dcdb2323552</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>getJointVelocityDerivatives_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>afca7c09f35c102ce747cf145598def2c</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Model::JointIndex jointId, ReferenceFrame rf)</arglist>
    </member>
    <member kind="function">
      <type>boost::python::object</type>
      <name>getOrCreatePythonNamespace</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6a37796f6adf511742a8249c538fdeef</anchor>
      <arglist>(const std::string &amp;submodule_name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Hlog3</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a3d83a4e28eb428a1b756893349932ac4</anchor>
      <arglist>(M, v, res)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>impulseDynamics_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa8671ef9682132307af22b85fdef0ca9</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v_before, const Eigen::MatrixXd &amp;J, const double r_coeff=0., const double inv_damping=0.)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd</type>
      <name>impulseDynamics_proxy_no_q</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7d201a0df7cb7991fe52a3946fdacce7</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;v_before, const Eigen::MatrixXd &amp;J, const double r_coeff=0., const double inv_damping=0.)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModelComposite *</type>
      <name>init_proxy1</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af1ecffa9af9649530fad3862a5832d74</anchor>
      <arglist>(const JointModel &amp;jmodel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static JointModelComposite *</type>
      <name>init_proxy2</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>af789e55529a25685415c441146f3b6d8</anchor>
      <arglist>(const JointModel &amp;jmodel, const SE3 &amp;joint_placement)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix3x</type>
      <name>jacobian_subtree_com_kinematics_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abfc192fb2445b50aef70cf84966186c9</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const Eigen::VectorXd &amp;q, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Data::Matrix3x</type>
      <name>jacobian_subtree_com_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abee1ff725384a855a4ac1be83f8b9558</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, Model::JointIndex jointId)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>Jexp3_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9c22e1e7442dcf96d7c8e3c7d07887ef</anchor>
      <arglist>(const Vector3Like &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; Scalar, Options &gt;::Matrix6</type>
      <name>Jexp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a690b5ba6d3460b2a7d9fbe6c9949439d</anchor>
      <arglist>(const MotionTpl&lt; Scalar, Options &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector6Like::Scalar, 6, 6, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options &gt;</type>
      <name>Jexp6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9e919ed673f7ce8aac15b77e08242e69</anchor>
      <arglist>(const Vector6Like &amp;vec6)</arglist>
    </member>
    <member kind="function">
      <type>SE3Tpl&lt; Scalar, Options &gt;::Matrix6</type>
      <name>Jlog6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a27bb4245fb28b5e9e928b9bd03adc8c1</anchor>
      <arglist>(const SE3Tpl&lt; Scalar, Options &gt; &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>jointBodyRegressor_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aae2d696fd67a6de1f6ef7936b4ca0a0c</anchor>
      <arglist>(const Model &amp;model, Data &amp;data, const JointIndex jointId)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>log3_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8f0e5b8d3017d09d09a44905fb3db8ca</anchor>
      <arglist>(const Matrix3Like &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>MotionTpl&lt; typename Matrix4Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options &gt;</type>
      <name>log6_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac42d5804c4278a00467380df0850d22c</anchor>
      <arglist>(const Matrix4Like &amp;homegenous_matrix)</arglist>
    </member>
    <member kind="function">
      <type>internal::function_wrapper&lt; R(*)(Args...)&gt;</type>
      <name>make_pybind11_function</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a11d74f687ce9f851d9c3f0f3a200570b</anchor>
      <arglist>(R(*func)(Args...))</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Ref&lt; Matrix &gt;</type>
      <name>make_ref</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a677e60d1aecdd2ebcf17adb09aa63ac6</anchor>
      <arglist>(Eigen::PlainObjectBase&lt; Matrix &gt; &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>make_symmetric</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a511dabde86bab360806115f421672cdd</anchor>
      <arglist>(Eigen::MatrixBase&lt; Matrix &gt; &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl&lt; double, 0, LieGroupCollectionDefaultTpl &gt;</type>
      <name>makeLieGroup</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a84ca4de243bb13a6668613b5f906cc22</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>CartesianProductOperationVariantTpl&lt; double, 0, LieGroupCollectionDefaultTpl &gt;</type>
      <name>makeRn</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a017a805fb1d7485413c21d52b7475188</anchor>
      <arglist>(int n)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>normalize_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a18e4800caaa66d4d35c5a27c384723b9</anchor>
      <arglist>(const Model &amp;model, const Eigen::VectorXd &amp;config)</arglist>
    </member>
    <member kind="function">
      <type>typedef</type>
      <name>PINOCCHIO_ALIGNED_STD_VECTOR</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a60354e1c20198871735c4f9ebc72fc21</anchor>
      <arglist>(Force) ForceAlignedVector</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a44466d3b241e57bd5d966ebaa2dc843d</anchor>
      <arglist>(Matrix) make_copy(const Eigen</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a1cc9b96b55866478fdae7c5743021646</anchor>
      <arglist>(Matrix3Like) Jlog3_proxy(const Matrix3Like &amp;M)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_EIGEN_PLAIN_TYPE</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abc6756809a9e663696e9298db15226ff</anchor>
      <arglist>(Matrix3Like) Hlog3_proxy(const Matrix3Like &amp;M</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static boost::asio::streambuf &amp;</type>
      <name>prepare_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ab7fc015e006b5525744212b73d51823c</anchor>
      <arglist>(boost::asio::streambuf &amp;self, const std::size_t n)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>randomConfiguration_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5b21c4b36b6d85a6c5c1e213b67618fd</anchor>
      <arglist>(const Model &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>register_symbolic_link_to_registered_type</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aab59ec18a75b75cb00f4473a9298d3ab</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>rnea_proxy</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ac7d5b93039828816ab8846732d598d0e</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;a)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>rnea_proxy_res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9e6d7eacd6cf8238edfaafef16242c27</anchor>
      <arglist>(const int num_thread, ModelPool &amp;pool, const Eigen::MatrixXd &amp;q, const Eigen::MatrixXd &amp;v, const Eigen::MatrixXd &amp;a, Eigen::Ref&lt; Eigen::MatrixXd &gt; tau)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix3d</type>
      <name>rotate</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a466d7beac1c34ea18b403cd5d28beafa</anchor>
      <arglist>(const std::string &amp;axis, const double ang)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>sanitizedClassname</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa533d11403ec55245dd4e5c649c2be97</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>SE3ToXYZQUAT</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a6f1f226fdb35eff4f8372084a46283f0</anchor>
      <arglist>(const SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>bp::tuple</type>
      <name>SE3ToXYZQUATtuple</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>abb6d54940f5cd9204ec74e88c886fbf1</anchor>
      <arglist>(const SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5bad61a4796fd668df1dd2c60661446c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3::Scalar, 3, 3, Vector3::Options &gt;</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a802a81f77464bdaf1702ffeb261f82bc</anchor>
      <arglist>(const Vector3 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3::Scalar, 3, 3, Vector3::Options &gt;</type>
      <name>skewSquare</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a5391fa805f81e6ea5444124d073e38f1</anchor>
      <arglist>(const Vector3 &amp;u, const Vector3 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>py::object</type>
      <name>to</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a9b9112af0749f253eeb287efd21ff0f9</anchor>
      <arglist>(T &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>py::object</type>
      <name>to</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a25ca8834a95b25604170833dca6bc8ab</anchor>
      <arglist>(T *t)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3::Scalar, 3, 1, Matrix3::Options &gt;</type>
      <name>unSkew</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a743b1aaca6ac4636e0cc3833a2dde63f</anchor>
      <arglist>(const Matrix3 &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>XYZQUATToSE3_bp</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>aa7b9ee0fb8bcbd42224d7c37f275b664</anchor>
      <arglist>(const TupleOrList &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>XYZQUATToSE3_ei</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a7c86c3edcc0120a844c845b2a13f7680</anchor>
      <arglist>(const Vector7Like &amp;v)</arglist>
    </member>
    <member kind="variable">
      <type>ReturnType</type>
      <name>res</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>ae00fb61d0f449237426ebc59ad49d9c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const Vector3Like &amp;</type>
      <name>v</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a29aab1d255012212d6652c7590212654</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const std::string &amp;</type>
      <name>xmlStream</name>
      <anchorfile>namespacepinocchio_1_1python.html</anchorfile>
      <anchor>a8cfb1859f69c0c35a1c9a5ae362ec9d9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::python::details</name>
    <filename>namespacepinocchio_1_1python_1_1details.html</filename>
    <class kind="struct">pinocchio::python::details::overload_base_get_item_for_std_map</class>
    <class kind="struct">pinocchio::python::details::overload_base_get_item_for_std_vector</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::python::internal</name>
    <filename>namespacepinocchio_1_1python_1_1internal.html</filename>
    <class kind="struct">pinocchio::python::internal::function_wrapper</class>
    <class kind="struct">pinocchio::python::internal::function_wrapper&lt; R(*)(Args...)&gt;</class>
    <member kind="function">
      <type>auto</type>
      <name>call</name>
      <anchorfile>namespacepinocchio_1_1python_1_1internal.html</anchorfile>
      <anchor>a99d757f2560aae33aedf29b0a0f8bf17</anchor>
      <arglist>(R(*f)(Args...), typename convert_type&lt; Args &gt;::type... args)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>call</name>
      <anchorfile>namespacepinocchio_1_1python_1_1internal.html</anchorfile>
      <anchor>aab39d86d5b5cc409be4794269e5c7038</anchor>
      <arglist>(void(*f)(Args...), typename convert_type&lt; Args &gt;::type... args)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::quaternion</name>
    <filename>namespacepinocchio_1_1quaternion.html</filename>
    <namespace>pinocchio::quaternion::internal</namespace>
    <member kind="function">
      <type>D1::Scalar</type>
      <name>angleBetweenQuaternions</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a3d45725fac13be55e80050b998389d82</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; D1 &gt; &amp;q1, const Eigen::QuaternionBase&lt; D2 &gt; &amp;q2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>assignQuaternion</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a4193c101367d75fc674c595055792719</anchor>
      <arglist>(Eigen::QuaternionBase&lt; D &gt; &amp;quat, const Eigen::MatrixBase&lt; Matrix3 &gt; &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>defineSameRotation</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>ac054fafc1993ad7ecfeceb88b276a44d</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; D1 &gt; &amp;q1, const Eigen::QuaternionBase&lt; D2 &gt; &amp;q2, const typename D1::RealScalar &amp;prec=Eigen::NumTraits&lt; typename D1::Scalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exp3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a0aa22fe1862affd1b021c6357d0f0d93</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat_out)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Quaternion&lt; typename Vector3Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>exp3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a1af2d4aeea50fdee2b3f28fff71bf063</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>firstOrderNormalize</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a3b92ee3536dc347822f8ba9d764d8d3b</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; D &gt; &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isNormalized</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>ac36f6fef5a0603a87c23cbd520b2fc94</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; Quaternion &gt; &amp;quat, const typename Quaternion::Coefficients::RealScalar &amp;prec=Eigen::NumTraits&lt; typename Quaternion::Coefficients::RealScalar &gt;::dummy_precision())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jexp3CoeffWise</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>addbd1b246b1a08c8a5e8ddaef250109b</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;v, const Eigen::MatrixBase&lt; Matrix43Like &gt; &amp;Jexp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Jlog3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a79ca19f810141fbe03878cb7d6a8da83</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;Jlog)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a41651758cdab98188c9f675a5abe5bc9</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat, typename QuaternionLike::Scalar &amp;theta)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename QuaternionLike::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(typename QuaternionLike::Vector3)::Options &gt;</type>
      <name>log3</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>a366593ad2ab1a067e0cc3201a9e074a0</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; QuaternionLike &gt; &amp;quat)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>uniformRandom</name>
      <anchorfile>namespacepinocchio_1_1quaternion.html</anchorfile>
      <anchor>afab9a7726ac4c77dcd2b67821ea5e36e</anchor>
      <arglist>(const Eigen::QuaternionBase&lt; Derived &gt; &amp;q)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::quaternion::internal</name>
    <filename>namespacepinocchio_1_1quaternion_1_1internal.html</filename>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; ::casadi::Matrix&lt; _Scalar &gt;, false &gt;</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; CppAD::AD&lt; _Scalar &gt;, false &gt;</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl&lt; Scalar, true &gt;</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_negative</class>
    <class kind="struct">pinocchio::quaternion::internal::quaternionbase_assign_impl_if_t_positive</class>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::regressor</name>
    <filename>namespacepinocchio_1_1regressor.html</filename>
    <member kind="function">
      <type>PINOCCHIO_DEPRECATED DataTpl&lt; Scalar, Options, JointCollectionTpl &gt;::Matrix3x &amp;</type>
      <name>computeStaticRegressor</name>
      <anchorfile>namespacepinocchio_1_1regressor.html</anchorfile>
      <anchor>a0c3b167e3dd93155e8d8024c5b66d07d</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, DataTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;data, const Eigen::MatrixBase&lt; ConfigVectorType &gt; &amp;q)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::robot_wrapper</name>
    <filename>namespacepinocchio_1_1robot__wrapper.html</filename>
    <class kind="class">pinocchio::robot_wrapper::RobotWrapper</class>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1robot__wrapper.html</anchorfile>
      <anchor>aaf9841788bc3e00cb8f53c71805a6ef6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::romeo_wrapper</name>
    <filename>namespacepinocchio_1_1romeo__wrapper.html</filename>
    <class kind="class">pinocchio::romeo_wrapper::RomeoWrapper</class>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1romeo__wrapper.html</anchorfile>
      <anchor>ae1fa25f361de5246a26fa4c217232c6f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::rpy</name>
    <filename>namespacepinocchio_1_1rpy.html</filename>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>computeRpyJacobian</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>aaa56420bfd54b83a4425fbf38dbce2df</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;rpy, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>computeRpyJacobianInverse</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a7b6ccdc5e8edc4213957a961273daec9</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;rpy, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like0::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like0)::Options &gt;</type>
      <name>computeRpyJacobianTimeDerivative</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a22eb9c7b6bf31f94970ffdeb779aa186</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like0 &gt; &amp;rpy, const Eigen::MatrixBase&lt; Vector3Like1 &gt; &amp;rpydot, const ReferenceFrame rf=LOCAL)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options &gt;</type>
      <name>matrixToRpy</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a4b4af026a4569222007aa791c9eb735e</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Matrix3Like &gt; &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; Scalar, 3, 3 &gt;</type>
      <name>rpyToMatrix</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a4b545bc7afdad3a68b0263134607983c</anchor>
      <arglist>(const Scalar &amp;r, const Scalar &amp;p, const Scalar &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options &gt;</type>
      <name>rpyToMatrix</name>
      <anchorfile>namespacepinocchio_1_1rpy.html</anchorfile>
      <anchor>a7733dc90742f9fa0a2a2658bcb62ff14</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Vector3Like &gt; &amp;rpy)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::serialization</name>
    <filename>namespacepinocchio_1_1serialization.html</filename>
    <class kind="struct">pinocchio::serialization::Serializable</class>
    <class kind="struct">pinocchio::serialization::StaticBuffer</class>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>ac2fc3c1267a337f92b72dfe88b066257</anchor>
      <arglist>(T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>afc2b1a3b74ce4823c2b326544c34d7c4</anchor>
      <arglist>(T &amp;object, boost::asio::streambuf &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a229ad736383a33da4031a32a2d619d11</anchor>
      <arglist>(T &amp;object, StaticBuffer &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromString</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>ae8d38e2a40064f851888310d5c22218b</anchor>
      <arglist>(T &amp;object, const std::string &amp;str)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromStringStream</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>af537a59591d25e8d98fef7f630bb109d</anchor>
      <arglist>(T &amp;object, std::istringstream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromText</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>acb9b6c1f2f6e06197ba2e5cc45ea6133</anchor>
      <arglist>(T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadFromXML</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a3495a3e7047da0b8762b7c968d4933f8</anchor>
      <arglist>(T &amp;object, const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a5c863274e0524226fa53e335df67cf8f</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a4d594834f13f9332399facd712ea2eac</anchor>
      <arglist>(const T &amp;object, boost::asio::streambuf &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToBinary</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>aa9283ec31d872cb4fcb22525a2e27b42</anchor>
      <arglist>(const T &amp;object, StaticBuffer &amp;buffer)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>saveToString</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a91093c536c43bae1d3aa3b90471ecb44</anchor>
      <arglist>(const T &amp;object)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToStringStream</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a0a012b2dfbd7d745fece3e2ee300a9b4</anchor>
      <arglist>(const T &amp;object, std::stringstream &amp;ss)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToText</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>a5569d2af72732767381c09dbe0056eb8</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>saveToXML</name>
      <anchorfile>namespacepinocchio_1_1serialization.html</anchorfile>
      <anchor>ac76bd00acca96d856cf1bce557e9b9c9</anchor>
      <arglist>(const T &amp;object, const std::string &amp;filename, const std::string &amp;tag_name)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::shortcuts</name>
    <filename>namespacepinocchio_1_1shortcuts.html</filename>
    <member kind="function">
      <type>def</type>
      <name>buildModelsFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1shortcuts.html</anchorfile>
      <anchor>a534ed6f82ed25cce91b4244a2f37c6ab</anchor>
      <arglist>(filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None, geometry_types=[pin.GeometryType.COLLISION, pin, GeometryType, VISUAL)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>createDatas</name>
      <anchorfile>namespacepinocchio_1_1shortcuts.html</anchorfile>
      <anchor>afbd16856999782f930aff591ceb0c073</anchor>
      <arglist>(models)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nle</name>
      <anchorfile>namespacepinocchio_1_1shortcuts.html</anchorfile>
      <anchor>a447187b27b59d3c9e1b59c2048c968ba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::srdf</name>
    <filename>namespacepinocchio_1_1srdf.html</filename>
    <member kind="function">
      <type>void</type>
      <name>loadReferenceConfigurations</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>a691ad7cf74f90f9ef2b98d087a8d18df</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadReferenceConfigurationsFromXML</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>aa35bbf64713469d017053c5f44a464b5</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, std::istream &amp;xmlStream, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadRotorParameters</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>aaf31a4ea6c3ab99633f05acfd30da23b</anchor>
      <arglist>(ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeCollisionPairs</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>af240a076aeff562f72883c414f49262f</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, GeometryModel &amp;geom_model, const std::string &amp;filename, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeCollisionPairsFromXML</name>
      <anchorfile>namespacepinocchio_1_1srdf.html</anchorfile>
      <anchor>a7274e3668080448e6b03494f1bec727c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, GeometryModel &amp;geom_model, const std::string &amp;xmlString, const bool verbose=false)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::urdf</name>
    <filename>namespacepinocchio_1_1urdf.html</filename>
    <namespace>pinocchio::urdf::details</namespace>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>ac33a66c93d49226b84e418dae11b36ed</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const GeometryType type, GeometryModel &amp;geom_model, const std::vector&lt; std::string &gt; &amp;package_paths=std::vector&lt; std::string &gt;(), ::hpp::fcl::MeshLoaderPtr mesh_loader=::hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a77097f7c20a7947d1466f81303cc8b9e</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::string &amp;filename, const GeometryType type, GeometryModel &amp;geom_model, const std::string &amp;package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a0e99d18fa78408727657f24841ea073a</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::istream &amp;xml_stream, const GeometryType type, GeometryModel &amp;geom_model, const std::vector&lt; std::string &gt; &amp;package_paths=std::vector&lt; std::string &gt;(), hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>GeometryModel &amp;</type>
      <name>buildGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>aae34521bded8c37617894ad7b2d5cb2c</anchor>
      <arglist>(const ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const std::istream &amp;xml_stream, const GeometryType type, GeometryModel &amp;geom_model, const std::string &amp;package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a9222e9df7754648584079ac37836c163</anchor>
      <arglist>(const std::string &amp;filename, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointModel &amp;rootJoint, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a4a7ad8b23f7ea794ca939b152ffc489c</anchor>
      <arglist>(const std::string &amp;filename, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a63332826dc844492132d11657400bd9f</anchor>
      <arglist>(const boost::shared_ptr&lt; ::urdf::ModelInterface &gt; urdfTree, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointModel &amp;rootJoint, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModel</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a1e03c2476caf3c23560f8ce24f860f71</anchor>
      <arglist>(const boost::shared_ptr&lt; ::urdf::ModelInterface &gt; urdfTree, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModelFromXML</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>a978d2feb719213a3359869e12f528fc8</anchor>
      <arglist>(const std::string &amp;xml_stream, const typename ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt;::JointModel &amp;rootJoint, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;</type>
      <name>buildModelFromXML</name>
      <anchorfile>namespacepinocchio_1_1urdf.html</anchorfile>
      <anchor>af03913ffd82838370b265858b2138429</anchor>
      <arglist>(const std::string &amp;xml_stream, ModelTpl&lt; Scalar, Options, JointCollectionTpl &gt; &amp;model, const bool verbose=false)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::urdf::details</name>
    <filename>namespacepinocchio_1_1urdf_1_1details.html</filename>
    <class kind="struct">pinocchio::urdf::details::UrdfTree</class>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addLinkGeometryToGeomModel</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa9857d2b8e4fdc166b8ed26cebea4970</anchor>
      <arglist>(const UrdfTree &amp;tree, ::hpp::fcl::MeshLoaderPtr &amp;meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &amp;visitor, GeometryModel &amp;geomModel, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa6f69194ca0ef5bce4fc2b2777fdaf25</anchor>
      <arglist>(const ::urdf::Pose &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Inertia</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a2c97b515a2c45795cc874483c4452f95</anchor>
      <arglist>(const ::urdf::Inertial &amp;Y)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Inertia</type>
      <name>convertFromUrdf</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a87ef054d32c65024424166a97579a335</anchor>
      <arglist>(const ::urdf::InertialSharedPtr &amp;Y)</arglist>
    </member>
    <member kind="function">
      <type>PINOCCHIO_URDF_SHARED_PTR(const T) getLinkGeometry(const inline ::urdf::CollisionConstSharedPtr</type>
      <name>getLinkGeometry&lt; ::urdf::Collision &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a0a00d0ac01781e5708633117efabe326</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>inline ::urdf::VisualConstSharedPtr</type>
      <name>getLinkGeometry&lt; ::urdf::Visual &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a9588c834261356615a10f3286467aa13</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; PINOCCHIO_URDF_SHARED_PTR(T) &gt; &amp;</type>
      <name>getLinkGeometryArray</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a321b841a755aebaf4dbb35013e9f6c06</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; ::urdf::CollisionSharedPtr &gt; &amp;</type>
      <name>getLinkGeometryArray&lt; ::urdf::Collision &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a9ff1ae017461c482a5945b9bfaf60f02</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; ::urdf::VisualSharedPtr &gt; &amp;</type>
      <name>getLinkGeometryArray&lt; ::urdf::Visual &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a3f3c41648bbbb4f5b07cfa0a0eb94e6f</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static FrameIndex</type>
      <name>getParentLinkFrame</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a0b2b677498340d98c4f91f97db65bc44</anchor>
      <arglist>(const ::urdf::LinkConstSharedPtr link, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getVisualMaterial</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a946e8d6a46570e7f6b6ff69c50eb6061</anchor>
      <arglist>(const PINOCCHIO_URDF_SHARED_PTR(urdfObject) urdf_object, std::string &amp;meshTexturePath, Eigen::Vector4d &amp;meshColor, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getVisualMaterial&lt; ::urdf::Collision &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a6ec9290f52db5cb40f272080f4994b54</anchor>
      <arglist>(const ::urdf::CollisionSharedPtr, std::string &amp;meshTexturePath, Eigen::Vector4d &amp;meshColor, const std::vector&lt; std::string &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getVisualMaterial&lt; ::urdf::Visual &gt;</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>aa9130f27e77d2ea94387190964d5cc9e</anchor>
      <arglist>(const ::urdf::VisualSharedPtr urdf_visual, std::string &amp;meshTexturePath, Eigen::Vector4d &amp;meshColor, const std::vector&lt; std::string &gt; &amp;package_dirs)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseRootTree</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a364334e12270bc269db430a84ab678ae</anchor>
      <arglist>(const ::urdf::ModelInterface *urdfTree, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseRootTree</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>afaa580b9104495c0beab2b7b814cd29a</anchor>
      <arglist>(const std::string &amp;filename, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseRootTreeFromXML</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a9841136c244f381172e1d7749766c2df</anchor>
      <arglist>(const std::string &amp;xmlString, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseTree</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a94efe9c89a08f297a81dd9dbb82807cb</anchor>
      <arglist>(::urdf::LinkConstSharedPtr link, UrdfVisitorBase &amp;model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>parseTreeForGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a8157c90ad1bf24efd1adbc0956276c0e</anchor>
      <arglist>(UrdfGeomVisitorBase &amp;visitor, const std::istream &amp;xmlStream, const GeometryType type, GeometryModel &amp;geomModel, const std::vector&lt; std::string &gt; &amp;package_dirs, ::hpp::fcl::MeshLoaderPtr meshLoader)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recursiveParseTreeForGeom</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a674124fa9129425b3fbf0ecc563edf55</anchor>
      <arglist>(const UrdfTree &amp;tree, ::hpp::fcl::MeshLoaderPtr &amp;meshLoader, ::urdf::LinkConstSharedPtr link, UrdfGeomVisitorBase &amp;visitor, GeometryModel &amp;geomModel, const std::vector&lt; std::string &gt; &amp;package_dirs, const GeometryType type)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>retrieveMeshScale</name>
      <anchorfile>namespacepinocchio_1_1urdf_1_1details.html</anchorfile>
      <anchor>a68a626f657d377f90000fb31ea9ae406</anchor>
      <arglist>(const ::urdf::MeshSharedPtr &amp;mesh, const Eigen::MatrixBase&lt; Vector3 &gt; &amp;scale)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::utils</name>
    <filename>namespacepinocchio_1_1utils.html</filename>
    <member kind="function">
      <type>def</type>
      <name>cross</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a44f6a8d6a04259d4fe905b36e0ba9964</anchor>
      <arglist>(a, b)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>eye</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a4478c349acb50e9dc4c581b04712ddf7</anchor>
      <arglist>(n)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>fromListToVectorOfString</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a97e3496f30525b1d0e6bb0beab71a8ca</anchor>
      <arglist>(items)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>isapprox</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aa379cd7c94d5917c83f119a1616a2dc9</anchor>
      <arglist>(a, b, epsilon=1e-6)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>mprint</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aae526b29c08b4cb314374d536f6fcb17</anchor>
      <arglist>(M, name=&quot;ans&quot;, eps=1e-15)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>npToTTuple</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a0209bbd69cb5966e7678c5b4a6e2a0bf</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>npToTuple</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>afe975c04cd36157869ea93efea9adedf</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rand</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>ac34743124c85533494ac7db434ebcdc0</anchor>
      <arglist>(n)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>se3ToXYZQUAT</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aa42d209fcc671ced1641ce7aa0b747f2</anchor>
      <arglist>(M)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>skew</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>aa58f28724a19d14a837c50c400b3fafc</anchor>
      <arglist>(p)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>XYZQUATToSe3</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a096b60c0e3191bb7340c69bddd5ad34c</anchor>
      <arglist>(vec)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>zero</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>a729c037a9443eba5b1995aa94fd0b01e</anchor>
      <arglist>(n)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1utils.html</anchorfile>
      <anchor>afb82191278328fcb3f5da0259ce3a23e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::visualize</name>
    <filename>namespacepinocchio_1_1visualize.html</filename>
    <namespace>pinocchio::visualize::base_visualizer</namespace>
    <namespace>pinocchio::visualize::gepetto_visualizer</namespace>
    <namespace>pinocchio::visualize::meshcat_visualizer</namespace>
    <namespace>pinocchio::visualize::panda3d_visualizer</namespace>
    <namespace>pinocchio::visualize::rviz_visualizer</namespace>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::visualize::base_visualizer</name>
    <filename>namespacepinocchio_1_1visualize_1_1base__visualizer.html</filename>
    <class kind="class">pinocchio::visualize::base_visualizer::BaseVisualizer</class>
    <class kind="class">pinocchio::visualize::base_visualizer::VideoContext</class>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1base__visualizer.html</anchorfile>
      <anchor>aae118108ebf63607f71a551422ba383d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>IMAGEIO_SUPPORT</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1base__visualizer.html</anchorfile>
      <anchor>ae99b99ac82339b141d9d3923d8a8d98a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::visualize::gepetto_visualizer</name>
    <filename>namespacepinocchio_1_1visualize_1_1gepetto__visualizer.html</filename>
    <class kind="class">pinocchio::visualize::gepetto_visualizer::GepettoVisualizer</class>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1gepetto__visualizer.html</anchorfile>
      <anchor>aeb5f39a461bec508e04230b0f4550414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1gepetto__visualizer.html</anchorfile>
      <anchor>a6d6b2a5aaaab49291092a1b927bf3356</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::visualize::meshcat_visualizer</name>
    <filename>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</filename>
    <class kind="class">pinocchio::visualize::meshcat_visualizer::MeshcatVisualizer</class>
    <member kind="function">
      <type>def</type>
      <name>createCapsule</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a0f6d9ff0136735065207aa47eed585c5</anchor>
      <arglist>(length, radius, radial_resolution=30, cap_resolution=10)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>isMesh</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a7844368b96c05ea19020d6032de53a9a</anchor>
      <arglist>(geometry_object)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadMesh</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>aba72d6d004b77f4b9560b281f4f07634</anchor>
      <arglist>(mesh)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>loadPrimitive</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a5acf6328bf261204ad35f164912e0d15</anchor>
      <arglist>(geometry_object)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a5f06e2e2ccc85331efdacbc2eb434b53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>COLOR_PRESETS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>a610bdfe9df942f455bc37664b6c03bb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>DEFAULT_COLOR_PROFILES</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>aae23fd25b4a13c2bb36065a5b37fcbe9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1meshcat__visualizer.html</anchorfile>
      <anchor>ac8f20fd19c781c5ce5087ae41a3539f9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::visualize::panda3d_visualizer</name>
    <filename>namespacepinocchio_1_1visualize_1_1panda3d__visualizer.html</filename>
    <class kind="class">pinocchio::visualize::panda3d_visualizer::Panda3dVisualizer</class>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1panda3d__visualizer.html</anchorfile>
      <anchor>a89f1edcea2acf3375c4590aa9d983e61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1panda3d__visualizer.html</anchorfile>
      <anchor>a83cbbe9878fece456421332245ab404d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pinocchio::visualize::rviz_visualizer</name>
    <filename>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</filename>
    <class kind="class">pinocchio::visualize::rviz_visualizer::RVizVisualizer</class>
    <member kind="function">
      <type>def</type>
      <name>create_capsule_markers</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a007fbdb3665c13ff0546b365fc7b6fbf</anchor>
      <arglist>(marker_ref, oMg, d, l)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>SE3ToROSPose</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a6c358dce18279049cb97acf49d17159e</anchor>
      <arglist>(oMg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>list</type>
      <name>__all__</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a153a02eb24e0d99b4c3964458545ed26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>WITH_HPP_FCL_BINDINGS</name>
      <anchorfile>namespacepinocchio_1_1visualize_1_1rviz__visualizer.html</anchorfile>
      <anchor>a094b5f85da17f412722e015c4df52e73</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>prm_display</name>
    <filename>namespaceprm__display.html</filename>
    <member kind="function">
      <type>def</type>
      <name>display_path</name>
      <anchorfile>namespaceprm__display.html</anchorfile>
      <anchor>aa3237555bfd3f0705489a72544759450</anchor>
      <arglist>(robot, path, sleeptime=1e-2)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display_prm</name>
      <anchorfile>namespaceprm__display.html</anchorfile>
      <anchor>a62e18052f571482da4530c1f1a2233d4</anchor>
      <arglist>(robot, graph)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pyproject</name>
    <filename>namespacepyproject.html</filename>
    <member kind="function">
      <type>def</type>
      <name>update_pyproject_version</name>
      <anchorfile>namespacepyproject.html</anchorfile>
      <anchor>a2313ad7f22fa0f714d7197917c8ca8df</anchor>
      <arglist>(version)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>python</name>
    <filename>namespacepython.html</filename>
  </compound>
  <compound kind="namespace">
    <name>qnet</name>
    <filename>namespaceqnet.html</filename>
    <class kind="class">qnet::QValueNetwork</class>
    <member kind="function">
      <type>def</type>
      <name>disturb</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>aa58adfa0164edf0903a81110f5aa27f3</anchor>
      <arglist>(u, i)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>onehot</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a8b5c635512e60e0abd3a499130017431</anchor>
      <arglist>(ix, n=NX)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>rendertrial</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ad3caa8ffd7f03717da0d9e9eda55bcc5</anchor>
      <arglist>(maxiter=100)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DECAY_RATE</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a738627f2a6cd505e8103639a01bf1cc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ab3446f11c3348c73bb31c5266de22696</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>feed_dict</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a45deed133cfabadaf7cf50bbdfb9da14</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_rwd</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a8c5f4018fd6607d846907c881b0e6c00</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LEARNING_RATE</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a9df8310b119fc0bfcbb13b93a447439f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEPISODES</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a41676f01e0dd721b9be08e943ccee84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a569a5a5d16be9eccb25fa66a56d5996e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NU</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ac567441e84b358ca0ac02d06a422088e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NX</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a0e2af163d6feeb2a98d95918548e14e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>optim</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a56360c393515fb614daecb1143a12fc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q2</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ab30fc96fd91f1c2fcb952ab011d6e330</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Qref</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>aa8e990dbe82def6e494b16058a0c619a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qvalue</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a9a3565969b9d6a8e13242e4ae426a388</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RANDOM_SEED</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a640cb3dda4a73551674d34e28c7e7ce1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reward</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a36a1610742716bf5c51b061a5e6ff73f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rsum</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ab8bf3102d11fb3e131c83d8f91c20e78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sess</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a9be5008fab15c2896c5b569f3c8a2fd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>aee47b891f02a1d6f7c9b728b24b02af2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>ad2d08f140103481acf5d00487d62e814</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>namespaceqnet.html</anchorfile>
      <anchor>a944514dbcb38d0e45fff2202a9c065a2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>qtable</name>
    <filename>namespaceqtable.html</filename>
    <member kind="function">
      <type>def</type>
      <name>rendertrial</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a4c94e3d3d6a50beef7e11b4cee4313f9</anchor>
      <arglist>(maxiter=100)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>DECAY_RATE</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a51aae3440386ee62d422071fac5bba66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>env</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a7bb4c79b0dfce1aefd9041f7d04b9e6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>h_rwd</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a6ff5cddf6edd1db2a17213df54e13ed2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LEARNING_RATE</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a3f2146f97c181a0502378d42a1c5cfc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEPISODES</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a26c70d16231da9d989dac6d16e8ed350</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NSTEPS</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a13d4e60d1f18c180aae692c8a6457615</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NU</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a867c66e6eb964c20dd076e21846ae3b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>NX</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a3e6f17af580347f80e4433e9f7563e37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Q</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a8bffde0efb141612eb189de84ccd253c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>Qref</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>aade9b500a4c9dd5c7185dd5bed79f75b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RANDOM_SEED</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a6a5083d49a2cf6f4e193ff43cb9f0c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reward</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>af8df63a158525af87c167d31870e2c79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rsum</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a5143f83a1292aba388dd4090cd1cc188</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>u</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a423115ff4ee5a1b8a204c268630deda1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>afc6b91fccfd35dca5024fb209a657270</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x2</name>
      <anchorfile>namespaceqtable.html</anchorfile>
      <anchor>a60d10daf83eb2dcd12655478ca03dd78</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>robot-wrapper-viewer</name>
    <filename>namespacerobot-wrapper-viewer.html</filename>
    <member kind="variable">
      <type></type>
      <name>com</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a7ffe4cfa4076d0982a96f3d87bb658fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com2</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a474e90f80152c8338d826471488fedf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a9c6fffb02922fdf8777afb82b84c12c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>abd602c394be397af0f0bcd831b0df320</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a98461c26d50eda4c591dcaeb9a7118a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a68c954958cda8179d6d081a7e2f67de5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>opt</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a05fb1676f7b675b57a0e199cd57e3503</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>aa0bab9950415a9cc7b20e1ecf4df0bd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>aa83fd0360943a19636349bdd670b775b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>ae1f6effd73be91446e2b644849418a83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>add9ba7a30ef6d2f923eeb95e44b3769e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>a57aef2ab94d5d8950f67abde0042840f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>VISUALIZER</name>
      <anchorfile>namespacerobot-wrapper-viewer.html</anchorfile>
      <anchor>acc8d8d6125656923b506135079427f9a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>robot_hand</name>
    <filename>namespacerobot__hand.html</filename>
    <class kind="class">robot_hand::Robot</class>
    <class kind="class">robot_hand::Visual</class>
  </compound>
  <compound kind="namespace">
    <name>rpy</name>
    <filename>namespacerpy.html</filename>
    <class kind="class">rpy::TestRPY</class>
  </compound>
  <compound kind="namespace">
    <name>run-algo-in-parallel</name>
    <filename>namespacerun-algo-in-parallel.html</filename>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a41446f9fe7c6c5f6996c9cdc0bac402d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>batch_size</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a23d05a935e600d0392e27e4ace1b599c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a2d456b47b014090d41045e442fc2ab5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_threads</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>ad0909e6f74adc746c7b2cd87c47291a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pool</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a24b8b0611882703ffb01d7c99239fce8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a885491b4506558d1c4d3540817873637</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_aba</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a00e54cf5e5528a8bbff0e6e321e44e3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_aba2</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>af60bac77b20ff9bf2330ad747d3cd300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_rnea</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>ac8385932bfc4e25e52d58dff944bdd0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>res_rnea2</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>af314470855b6da4c5dc89f8e3717ea88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>ade7b2e3c661153903b275c2a65462b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacerun-algo-in-parallel.html</anchorfile>
      <anchor>a8f2f62821cb2992fca8542ce923a8a43</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>rviz-viewer</name>
    <filename>namespacerviz-viewer.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a7378f675a33c297cdc7b53c4b8906b42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a2499ddf09672b58973f3afc89802753c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a2f349af9275d912ba9e223b6b39b7751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>aae7ad16cccff6f5340dd1263cdfc6654</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a330f9af8199f7cfb10f21b22a2a07460</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a7207921b02f4dcda4d05370b641243e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a8471c383bc9bc9810b4302eda20e2451</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rootNodeName</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a2a6cbbab3cf2f6cb5c1aa4956de7689d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>ae22126dbda82f7a4b506b8ccd9faba8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a85f34010b29d9bf1175ea8be4065be65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>abc4320f56766aaba953ba6bf868c50f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a645bd54eddb2e29c62a08ec55b9604bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz2</name>
      <anchorfile>namespacerviz-viewer.html</anchorfile>
      <anchor>a5c3b53bcf41caddde41dd6969ff81d5c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>sample-model-viewer</name>
    <filename>namespacesample-model-viewer.html</filename>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ae0e29eb56ef23558189a1340157eb0ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>input</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ace758d307b5276602a7d2dd42969c80d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a4e7dfdbfd28f8ac1a94c63c081e001f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>opt</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a310d826ccdf5aea634c76606670a57ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ac85d69bd353d6d7403d62659528e7c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a9eabacf86c2221ac1a00d257e8832c60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>a10560ea6ad44e2a7145e304c7b94f0e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>VISUALIZER</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>ae7a98443aad5d857acccef27a40f0d15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacesample-model-viewer.html</anchorfile>
      <anchor>aa7b44c82322b971edeadf720cb8a6298</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>serialization</name>
    <filename>namespaceserialization.html</filename>
    <class kind="class">serialization::TestSerialization</class>
    <member kind="variable">
      <type>string</type>
      <name>main_path</name>
      <anchorfile>namespaceserialization.html</anchorfile>
      <anchor>ad6b3e52a17d87c81d2ca357183c17e20</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>setup</name>
    <filename>namespacesetup.html</filename>
    <member kind="function">
      <type>def</type>
      <name>absolute</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3ac31648d6db300907a7bf10acaa28e</anchor>
      <arglist>(src)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef51ce1b22cffd404370dbbcaa8c7d4</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard_cmp</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac3aefb77ce5855a2948883a42fb39e39</anchor>
      <arglist>(lhs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>GenExtension</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a426f0fc740a730a26947fb07d914c70b</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_lib_name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a08aa150ac818aebfbb999a9ee751b4c1</anchor>
      <arglist>(path)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>chunk</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac841690a327d48358d0aa6c3da5b8003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>config</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1ff2a74642e15658e2c46138d2a73f72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a01e02c6fb7f2c66a9fb3daa4025be584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>abab7f7484072aa53119cd89cbae7c862</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ext_modules</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1bf56ea61d1e9865f316116dca2fbfea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>extensions</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a7d6a659c7fd056d592f248c1a98e6f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linux_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a019bf0e760b51815dc0818627ebb4c17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3a7a0638d76a01367c5bc3cc699447f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>package_data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a0a5ccc22976d20d42c6bb6c7651ce0be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>packages</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>aff2375a361fd5865c77bd9aa093be747</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sha512</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>afd75da7bae5803e88a0b20ac410de369</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src_files</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a8b0c506f6c8d68e5064a3bdc042c3b75</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2aa722b36a933088812b50ea79b97a5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version_hash</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1573d7834565996eab83d4d029075c0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>win32_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab1242eec890d42048d0a2d0da8c5ad81</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>simple_model</name>
    <filename>namespacesimple__model.html</filename>
    <class kind="class">simple_model::ModelWrapper</class>
    <class kind="class">simple_model::RobotDisplay</class>
    <class kind="class">simple_model::SimplestWalker</class>
    <member kind="function">
      <type>def</type>
      <name>color</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>a8104b753fde9fa9b58e5b2ef451c0f79</anchor>
      <arglist>(body_number=1)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>placement</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>adf5893da822cee9155f6429546f2e2eb</anchor>
      <arglist>(x=0, y=0, z=0, rx=0, ry=0, rz=0)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DENSITY</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>a8433f325b9bbacd5f00b233e43ce3cbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>ae18d10cf3ecda1acd2bc0e04332dce5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>walker</name>
      <anchorfile>namespacesimple__model.html</anchorfile>
      <anchor>a5b663167f91f6d7cf6208df4c8c15176</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>simulation-pendulum</name>
    <filename>namespacesimulation-pendulum.html</filename>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a89a67d3cea6df03333f9e5001c63e7d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>action</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a5fe91b041b45d1a0da4e9d7abd84413b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>args</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>adbe2e8c56f5e90f6a531c3051c78b43a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>base_radius</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a9616427e119d3ed87a55a51b1809c23a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>body_inertia</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a8675867a8f38b1fe445c7a566fa3341b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>body_mass</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a993e16635abf19703f1eb7d393dd438e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>body_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae6e996edfa1943dba2d17e4beabcd6e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>body_radius</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a8237143e291380b7c4d4066283cf13c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>cart_length</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a07c7aacee28041830b6531c78d37dd7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>cart_mass</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a503be722dcd6c2389e46f94f3b8840bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>cart_radius</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a007e8f3df348c24f1bf481425e6704cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>damping_value</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a14fde9f177f3526faf89bbb8daa42c35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data_sim</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aea34ddd382af650113ee7fa9edce0ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ac5bd31fe99a08a10bc98186b274f3d28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dt_sleep</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae54f0d1dc7cfd535f3a82fb63e95c1a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ellapsed</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aa7582aca0a84ed3b3d5e7e124867b697</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom1_name</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a1db0bfe4bc16d1563bd1768f0c89b019</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom1_obj</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a16ae9c1a5a1b355a4330fa361e348f78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>geom2_name</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a92af5c2e8fd0b09a3dee7287a7f9679b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom2_obj</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a5e9f1033b89a6b8d9be191a06f4e8557</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_base</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a4540f666997b5994634dd61f7cc9e2f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_cart</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a66f03770ab6fe21750b00896859df704</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geom_model</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a17ce872bf903062a0f58dde7f8558a6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>geometry_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a7a9f9854c3f5f939b00d444d611c3124</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>help</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a82d76cb12d13ed2d39fac8fe854b8996</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_id</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae7ddd2e555e50fdf52b1342ac8028c66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>joint_name</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ad864022350e94fb4bb82c8842353e0a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aaf49c20605bda07b414ab7738c544c4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>meshColor</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a3a9bb805f6d58e6559d74698c0e56ee9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a73b419b05ff2f9a3af72c77e10ff1aa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a9db969ef187a82e6307c0211ec7f2c5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>parent_id</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a190bf6eb0a13840b48ab031798e1c942</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parser</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a899f627eed631a01adccd57a61244ba1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae52712d5fa86f538c990559e9e2584c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae35339934a3e3289a03370bb997bea29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rotation</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a0a9c4a16858a6aee1275ba120e21ade5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape1</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a600bfb2f04b15194b5f96df8bdff729f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>afbec0d549c563c1cce7ee66ab1fbb433</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape2_placement</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>afb6bf51ed2a969e86d563703c84511b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape_base</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a86365d88310bfee4353503641314aa82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>shape_cart</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a5886e8a3fbfdf3001766055882bdb42d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>T</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a258daac8dc8300f14063a292aaad18f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>t</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>aba1e0ff924d0e10914a98c03a496d2cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_control</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>af5f2f33ec7a808bf2730d06da1826914</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tic</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ac28992e98a98c8389a3338214612c2b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>toc</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>abb829c87cee2a8b882bc3effda692046</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>type</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ad3b6743ce904a7cafba4b0f00aa22622</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a16483b789b5b70d51eb599c9dae43ea9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>ae9060371961cd784bcf0f484948a8499</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>namespacesimulation-pendulum.html</anchorfile>
      <anchor>a20bff73c502cfd074fc2676454219139</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>static-contact-dynamics</name>
    <filename>namespacestatic-contact-dynamics.html</filename>
    <member kind="variable">
      <type></type>
      <name>a0</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a86697b447bbdaf710491c55ffede4325</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>acc</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ac0f61b948fe20ed7fafdb8e740757600</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>bl_id</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a288294b9311b20944272f0e39b4c4d4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>collision_model</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a3a46b56ff16d5af4062a61b6ec05214b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a61f5c1ef7d73394e41bab13cb2393dc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>feet_ids</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a34fd74286f76eb8d4a2f444fdf6b02d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>feet_names</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>aa962527ac3acae43ff21605e548afee7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fext__bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a518a7dc3d14d05ad6e1fd2df05243148</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>fs_ext</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a8e0d7758f7a31c5a6a5293f105840af4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>g_bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a8090ee7ce99930aa51754e759a1914bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>g_grav</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2d3d51d7918a09a8d36b96a79ca1b957</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>g_j</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>abf21a63e6d75b54c9e3e33362ca146a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Jc__feet_bl_T</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2c60cf2c9e2d9f000f01c48295279b96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Jc__feet_j_T</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a81f27fcdc6e4350b850cd4ef112eb093</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>joint_ids</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ab23ec085ca0ceeb285d24ffe15b05d96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>joint_names</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a6508dcc7ba732453f444862d7e81af57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js__feet_bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a20af78259261bcb9a183a430450540ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js__feet_q</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ac0dc73e6092e3f2472e0820cce38f158</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js_feet3d_q</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a01e4391a88ffec7a4cb964f20d01edd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>Js_feet_j</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>afe1c92d5cba156099d3aa0a1cd0c9f6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l_sp__bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2437fbe95578f3dca3cf4324dbc2bbfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l_sp__f</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>aed186a56814b79dad72627bd00a470e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a122c7df4385d096b8f4c7557e7d79b5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ls</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ad87c3a0748d73832348e61606e6ee03b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>ls__bl</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>ae7e0245aed29d967f09aa4f1c4062e43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ls__f</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a282f44e160478c390408069e690bc88e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mesh_dir</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a8f3419fd2638226ebd7381ccb7ed5013</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a4760ad40f5eff1085a5ab440bfa518ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model_path</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a0f09cb68b45ffb13057a02a1d3ee40ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ncontact</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>aadaa15a75de3bb3c3cc096f79f6f2a3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pinocchio_model_dir</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>af28f1ba1ab039cd4f1211a10c9f69456</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a57e0b0a1398e940002bfecd88b44eb61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a26e2ea63f9ec9b714bf57dcab9bb01e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_rnea</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a13c182355e8df589fab1ffb95d4856d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf_filename</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a08c61fb0bfeac47b527a952b4b1535cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>urdf_model_path</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a9c1730d288d15d007f53dfba31c3e496</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a307c255fd2077ea15d7674380cf1bc8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>visual_model</name>
      <anchorfile>namespacestatic-contact-dynamics.html</anchorfile>
      <anchor>a2cbc81ff21e41b7cc79de704a26a5f41</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test-cpp2pybind11</name>
    <filename>namespacetest-cpp2pybind11.html</filename>
    <member kind="function">
      <type>def</type>
      <name>print_ref_count</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>adad6f3f0fb7d8eb53c191a1d4b92dff6</anchor>
      <arglist>(v, what=&quot;&quot;)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>a</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a2865d6cb2da238310865ee45a9168312</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>addr2</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a85f875585d7449ff05008df2f0c0c91c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>addr3</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a7444f1a4bc2a206a164b70b5e0a9d2ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>aa31f9514f5c8a9c47d3d3b0674ba44d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>m</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a13f0e93d210b5f7d1ed76961b4d2b79d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mm</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>afca7d6a7ac1c55b9b887e8bb326d17fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mmm</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>a545a704fc2c421fc5fe0ee7f6ef6e059</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacetest-cpp2pybind11.html</anchorfile>
      <anchor>abf1b8d9957b79add9e38b830899c321f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_case</name>
    <filename>namespacetest__case.html</filename>
    <class kind="class">test_case::PinocchioTestCase</class>
    <member kind="function">
      <type>def</type>
      <name>tracefunc</name>
      <anchorfile>namespacetest__case.html</anchorfile>
      <anchor>aa889870bc4e1040f13fbdac800621136</anchor>
      <arglist>(frame, event, arg)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_load</name>
    <filename>namespacetest__load.html</filename>
    <class kind="class">test_load::RobotTestCase</class>
    <member kind="variable">
      <type>bool</type>
      <name>pybullet</name>
      <anchorfile>namespacetest__load.html</anchorfile>
      <anchor>a32d64cd89e38577f883c919fdee61ad7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>update-model-after-urdf</name>
    <filename>namespaceupdate-model-after-urdf.html</filename>
    <member kind="function">
      <type>def</type>
      <name>check_limb_lengths</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>aa1c6602abb00c2893e32670c11e78cf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_limb_lengths</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a5b9d985507d689248f4179a00598bba4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>known_offsets</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a57382bd960ab970e7c135f2cb19c4eb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a99a79913a2902f1cca8b7e0964e3f88f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespaceupdate-model-after-urdf.html</anchorfile>
      <anchor>a2771da5d72433300c8389b35ff239ace</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ur5x4</name>
    <filename>namespaceur5x4.html</filename>
    <member kind="function">
      <type>def</type>
      <name>loadRobot</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>aa84402bfacede89a9ce4f0874d75f6c3</anchor>
      <arglist>(M0, name)</arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>color</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a85248ca300524c27ab531c60007c69aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>d</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>ac6e15f59ba094b6ba15a7c1758c000d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>gepettoViewer</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>ae1f3a9f6376a43e5c630300c25be6ecb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>h</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a91a2d319818e72b95d504190f131a326</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mt</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>afb7be42631aa348e23e5fffaa02fcbd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mtool</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a7ea15c9e2929beddd49f9a333bf1ea2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>PKG</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a15a9f3d2a99104685cc1f0a0fb721132</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a26a5b8f788cdec84d21b7a941fa12f24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>robots</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a6d06ec73f20aeb69b65d37673d4097a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>URDF</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>ab59a94ebd41984d0519282ba5a5e86df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>namespaceur5x4.html</anchorfile>
      <anchor>a172f405c64d59f445b927de19748b4a3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>urdf</name>
    <filename>namespaceurdf.html</filename>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_SHARED_PTR</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>ae0e40a4f8a06d881c52a415a0960c2ef</anchor>
      <arglist>(T) const _pointer_cast(PINOCCHIO_URDF_SHARED_PTR(U) const &amp;r)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a98d1e0bd987f8ef0690a8781ff746d7f</anchor>
      <arglist>(Box)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a0758dd7978670e727e225dea253b940d</anchor>
      <arglist>(Collision)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>af4ff99a9934778ef440637ef59c93d11</anchor>
      <arglist>(Cylinder)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a23b3557f058a99630f985d99f26f3e30</anchor>
      <arglist>(Geometry)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a9a248d3c30d10e6d94e2ea3bc6ec671b</anchor>
      <arglist>(Inertial)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>aff5d9a5f60f7263914eedc742bbabef2</anchor>
      <arglist>(Joint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a70e1e66eeb26facc19988e20f3da1654</anchor>
      <arglist>(Link)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>aba102129b07cdf3e3689bb8f57da76a9</anchor>
      <arglist>(Material)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a493164e562c0a32d066e98a9fa2abf1a</anchor>
      <arglist>(Mesh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>a5383bb267663010e5bf4d093922985e3</anchor>
      <arglist>(ModelInterface)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>ad1b48300181812d57616e4120defd749</anchor>
      <arglist>(Sphere)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER</name>
      <anchorfile>namespaceurdf.html</anchorfile>
      <anchor>ac4c3be5e680205e583e03e3a306ccc0e</anchor>
      <arglist>(Visual)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>utils</name>
    <filename>namespaceutils.html</filename>
    <class kind="class">utils::TestUtils</class>
  </compound>
  <compound kind="namespace">
    <name>version</name>
    <filename>namespaceversion.html</filename>
    <class kind="class">version::TestVersion</class>
  </compound>
  <compound kind="namespace">
    <name>xm</name>
    <filename>namespacexm.html</filename>
    <member kind="variable">
      <type></type>
      <name>aq</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a1e4b847cd1942eb0b85e8e0ce80e8334</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>C</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a49cd93325c7c0ff25e283cfbd16fc458</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>coriolis</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a36fae568a9465260057fa507e5cdc871</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dcrba</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>ad1ffd30b9ff5354ebebfaf086c1c8b9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>drnea</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>ac4dd0df85a33786c1f2bfeade691919f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Mp</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a79bb3dde04f802f15f3bb48600ccaf7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a14f04dd0d63ebaf64216aebb35ce8d02</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>R</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>aa2bc13f7b39d242899e56b4fc50374b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a5873e42c25abb944e9b25ca9809babc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vq</name>
      <anchorfile>namespacexm.html</anchorfile>
      <anchor>a4c4c0b8a08638d4b27340621ed68e952</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="group">
    <name>pinocchio_spatial</name>
    <title>Spatial</title>
    <filename>group__pinocchio__spatial.html</filename>
    <class kind="class">pinocchio::ForceBase</class>
    <class kind="class">pinocchio::ForceDense</class>
    <class kind="class">pinocchio::ForceRef</class>
    <class kind="class">pinocchio::ForceTpl</class>
    <class kind="class">pinocchio::InertiaTpl</class>
    <class kind="class">pinocchio::MotionBase</class>
    <class kind="class">pinocchio::MotionDense</class>
    <class kind="class">pinocchio::MotionRef</class>
    <class kind="class">pinocchio::MotionTpl</class>
    <class kind="struct">pinocchio::MotionZeroTpl</class>
    <class kind="struct">pinocchio::SE3Base</class>
    <class kind="struct">pinocchio::SE3Tpl</class>
    <class kind="class">pinocchio::Symmetric3Tpl</class>
    <member kind="typedef">
      <type>ForceTpl&lt; double, 0 &gt;</type>
      <name>Force</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga6f1f4464b05f1a2bb607804691f1ad91</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>InertiaTpl&lt; double, 0 &gt;</type>
      <name>Inertia</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga7174f964f5eb95b8781a02c348e554ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionTpl&lt; double, 0 &gt;</type>
      <name>Motion</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga57d1c4a68c7b5f2e5d94bdd1601a9339</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>MotionZeroTpl&lt; double, 0 &gt;</type>
      <name>MotionZero</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga12708018b8073f231d9df109a57e2360</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SE3Tpl&lt; double, 0 &gt;</type>
      <name>SE3</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gae0cfc18b44c8cf48d634c965ddfd1220</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Symmetric3Tpl&lt; double, 0 &gt;</type>
      <name>Symmetric3</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>ga041c72c93145de80da9f47d170811c1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS typedef BiasZeroTpl&lt; double, 0 &gt;</type>
      <name>BiasZero</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gaffe2f7443118675540acc272ebf08fee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>struct PINOCCHIO_DEPRECATED</type>
      <name>BiasZeroTpl</name>
      <anchorfile>group__pinocchio__spatial.html</anchorfile>
      <anchor>gae2eb84afe831880c9b2336a8e20197c0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="group">
    <name>pinocchio_multibody</name>
    <title>Multibody</title>
    <filename>group__pinocchio__multibody.html</filename>
    <class kind="struct">pinocchio::DataTpl</class>
    <class kind="struct">pinocchio::FrameTpl</class>
    <class kind="struct">pinocchio::ModelTpl</class>
    <member kind="typedef">
      <type>DataTpl&lt; double &gt;</type>
      <name>Data</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga582ff674471e566198472e36ac306dfa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FrameTpl&lt; double &gt;</type>
      <name>Frame</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga06c859e5157655f8e3bb2617fb4a9ce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>FrameIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab985d3dad133f1ad0237833e0633aefe</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>GeomIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab1ddedd6a73a00bc98bbeb23ccf06aab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::size_t</type>
      <name>Index</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga8d8174a1497501b9660bd470ba4d4ff6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>JointIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga93f5a27397872ef67f35c7b0cf10654e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ModelTpl&lt; double &gt;</type>
      <name>Model</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga373abc21697d4b1e0b32e406fb058779</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Index</type>
      <name>PairIndex</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga634b9d244e922bc4b0de310c825bf7ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>KinematicLevel</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ga647259697b4b404a10b294ad824b8759</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>POSITION</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a905ebd5c93606256af94de0222dee91e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>VELOCITY</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a63908d173505e34f3914d89d475c26b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ACCELERATION</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gga647259697b4b404a10b294ad824b8759a4d1d688f17a4435e24f733301470bf81</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>ReferenceFrame</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>gab91d26fac715585408fa359aaf30f82f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>WORLD</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82fa23987aa2990d0b5f3602b6e8b44f0379</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LOCAL</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82faface824360eb6431bd8b958c8ab11c01</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LOCAL_WORLD_ALIGNED</name>
      <anchorfile>group__pinocchio__multibody.html</anchorfile>
      <anchor>ggab91d26fac715585408fa359aaf30f82fa95597e292ac88f125097b657013e83f4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="group">
    <name>pinocchio_joint</name>
    <title>Joint</title>
    <filename>group__pinocchio__joint.html</filename>
    <class kind="struct">pinocchio::JointCollectionDefaultTpl</class>
    <class kind="struct">pinocchio::JointDataCompositeTpl</class>
    <class kind="struct">pinocchio::JointDataFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointDataPlanarTpl</class>
    <class kind="struct">pinocchio::JointDataPrismaticTpl</class>
    <class kind="struct">pinocchio::JointDataPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointDataRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointDataSphericalTpl</class>
    <class kind="struct">pinocchio::JointDataSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointDataTpl</class>
    <class kind="struct">pinocchio::JointDataTranslationTpl</class>
    <class kind="struct">pinocchio::JointDataVoid</class>
    <class kind="struct">pinocchio::JointModelCompositeTpl</class>
    <class kind="struct">pinocchio::JointModelFreeFlyerTpl</class>
    <class kind="struct">pinocchio::JointModelPlanarTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticTpl</class>
    <class kind="struct">pinocchio::JointModelPrismaticUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedTpl</class>
    <class kind="struct">pinocchio::JointModelRevoluteUnboundedUnalignedTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalTpl</class>
    <class kind="struct">pinocchio::JointModelSphericalZYXTpl</class>
    <class kind="struct">pinocchio::JointModelTpl</class>
    <class kind="struct">pinocchio::JointModelTranslationTpl</class>
    <class kind="struct">pinocchio::JointModelVoid</class>
    <member kind="typedef">
      <type>JointCollectionDefaultTpl&lt; double &gt;</type>
      <name>JointCollectionDefault</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga022f6caf3cd04921033f3cc796d35e52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTpl&lt; double &gt;</type>
      <name>JointData</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga63ed7efc33f4dbae1e5e11fdafcaf813</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataCompositeTpl&lt; double &gt;</type>
      <name>JointDataComposite</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac9d92809b923a21f63e5017ab198fbfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataFreeFlyerTpl&lt; double &gt;</type>
      <name>JointDataFreeFlyer</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga7bfbafeed8bad88b1ce3bb79217979df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPlanarTpl&lt; double &gt;</type>
      <name>JointDataPlanar</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga69291922e33f6355b900bbc4724b830f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>JointDataPrismaticUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga042b7624682dc160ec337742e4ec7d00</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>JointDataRevoluteUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gab0696c98b2c466f07c83d9eddc4d08a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataRevoluteUnboundedUnalignedTpl&lt; double &gt;</type>
      <name>JointDataRevoluteUnboundedUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gae676b8cb8a3da092492351cc16b22fe6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalTpl&lt; double &gt;</type>
      <name>JointDataSpherical</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga832a81b84142481ceb36dc8e0ec76738</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataSphericalZYXTpl&lt; double &gt;</type>
      <name>JointDataSphericalZYX</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga9da7c448fdaca39b8da7431c8bd05c41</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointDataTranslationTpl&lt; double &gt;</type>
      <name>JointDataTranslation</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga044b0df225194ea88fde5839b5646199</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTpl&lt; double &gt;</type>
      <name>JointModel</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gab5d34140fd139d4d628cae706a859693</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelCompositeTpl&lt; double &gt;</type>
      <name>JointModelComposite</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gae53cef5b5200dddcea5ad3e5c4604119</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelFreeFlyerTpl&lt; double &gt;</type>
      <name>JointModelFreeFlyer</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga480d46e43a3a4a435a7a82a7ab663d38</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPlanarTpl&lt; double &gt;</type>
      <name>JointModelPlanar</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gaab36d0cd79fcc59eb18f6790b8dba233</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelPrismaticUnalignedTpl&lt; double &gt;</type>
      <name>JointModelPrismaticUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga4d9110642b9ca89c038b6a25bb2e692f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnalignedTpl&lt; double &gt;</type>
      <name>JointModelRevoluteUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac5123b2c4b01951d93edaef4c1dcab4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelRevoluteUnboundedUnalignedTpl&lt; double &gt;</type>
      <name>JointModelRevoluteUnboundedUnaligned</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gaf25cda0fbb70012891b819326cedc493</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalTpl&lt; double &gt;</type>
      <name>JointModelSpherical</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga045a3bb456c5f2495952c873147afedd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelSphericalZYXTpl&lt; double &gt;</type>
      <name>JointModelSphericalZYX</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>gac25e645e6f2719d547fc92484ac989dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>JointModelTranslationTpl&lt; double &gt;</type>
      <name>JointModelTranslation</name>
      <anchorfile>group__pinocchio__joint.html</anchorfile>
      <anchor>ga781fd63303a7aed972b44f8a73b2d3f9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="group">
    <name>pinocchio_parsers</name>
    <title>Parsers</title>
    <filename>group__pinocchio__parsers.html</filename>
  </compound>
  <compound kind="group">
    <name>pinocchio_algorithms</name>
    <title>Algorithms</title>
    <filename>group__pinocchio__algorithms.html</filename>
  </compound>
  <compound kind="page">
    <name>default_type_caster</name>
    <title>Predefined casters</title>
    <filename>default_type_caster</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_a-features_intro</name>
    <title>Features</title>
    <filename>md_doc_a-features_intro</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_b-examples_intro</name>
    <title>Examples</title>
    <filename>md_doc_b-examples_intro</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_b-examples_b-display</name>
    <title></title>
    <filename>md_doc_b-examples_b-display</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_c-maths_intro</name>
    <title>Mathematical Formulation</title>
    <filename>md_doc_c-maths_intro</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_d-practical-exercises_intro</name>
    <title>Practical Exercises</title>
    <filename>md_doc_d-practical-exercises_intro</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_e-implementation_intro</name>
    <title>Implementation / Technical details</title>
    <filename>md_doc_e-implementation_intro</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_f-benchmarks_intro</name>
    <title>Benchmarks</title>
    <filename>md_doc_f-benchmarks_intro</filename>
  </compound>
  <compound kind="page">
    <name>md_doc_g-success-stories_intro</name>
    <title>Success Stories</title>
    <filename>md_doc_g-success-stories_intro</filename>
  </compound>
  <compound kind="page">
    <name>index</name>
    <title>Pinocchio PyBind11 helpers</title>
    <filename>index</filename>
    <docanchor file="index" title="Example">example</docanchor>
  </compound>
</tagfile>
