<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;Y, Math::MatrixNd &amp;Z, Math::VectorNd &amp;qddot_y, Math::VectorNd &amp;qddot_z, Math::LinearSolver &amp;linear_solver)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS)</arglist>
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      <anchorfile>group__contacts__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
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      <arglist>(Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;A, Math::VectorNd &amp;b, Math::VectorNd &amp;x, Math::LinearSolver &amp;linear_solver)</arglist>
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      <arglist>(Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;Y, Math::MatrixNd &amp;Z, Math::VectorNd &amp;qddot_y, Math::VectorNd &amp;qddot_z, Math::LinearSolver &amp;linear_solver)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;K, Math::VectorNd &amp;a, Math::LinearSolver linear_solver)</arglist>
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      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;Tau, VectorNd &amp;QDDot, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
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      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;Tau, VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::VectorNd &amp;Tau, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, Math::VectorNd &amp;Tau)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, Math::VectorNd &amp;Tau, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::VectorNd &amp;Tau, bool update_kinematics=true)</arglist>
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    <class kind="struct">FixedAndMovableJoint</class>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a2a535ac0058ad1a09913aaebab432bfd</anchor>
      <arglist>(Model &amp;model, unsigned int joint_id, const Math::VectorNd &amp;q)</arglist>
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    <path>/tmp/ws/src/rdl/rdl_dynamics/include/rdl_dynamics/</path>
    <filename>Joint_8h</filename>
    <includes id="SpatialAlgebraOperators_8h" name="SpatialAlgebraOperators.h" local="yes" imported="no">rdl_dynamics/SpatialAlgebraOperators.h</includes>
    <includes id="RdlExceptions_8hpp" name="RdlExceptions.hpp" local="yes" imported="no">rdl_dynamics/RdlExceptions.hpp</includes>
    <class kind="struct">RobotDynamics::CustomJoint</class>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1</anchor>
      <arglist></arglist>
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      <anchor>a74a803f58b22be109f2bb5061e7abfb1a95a09891d59d692c02e9912afaed4db7</anchor>
      <arglist></arglist>
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      <anchor>a74a803f58b22be109f2bb5061e7abfb1ac608f16fa32d7139b1756166dc6bdf7b</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1ae8f630b5d35b14d810a90cc1780d8a62</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a014cf531527f63d1478e844424e1b0b9</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a7508df0d6025d1bf4765fc46a1626923</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a751238a4816baca62f035bf9d6a6a8a4</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a00fbd252ceb9939925e9614fa39e2d7e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1aafa3249a2f8408e8cd1bff9dce03e14c</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>JointTypeEulerXYZ</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a333133946ba772b07910bacf416dde10</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>JointTypeEulerYXZ</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a9c354b3f9812a2842de65998ea413100</anchor>
      <arglist></arglist>
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      <name>JointTypeTranslationXYZ</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a79916c023001a472fe0430c870d720c9</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>JointTypeFloatingBase</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1af6745e11a124dc5655b180e5d1ba024c</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a0cfe0f8e1f26ebe3ecbbdfee55895abe</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>JointType1DoF</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1adae5f6347f13ad01a6b9cc5854ccd526</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>JointType2DoF</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1ac3f447fd6aa2f011623386ae49c7b22a</anchor>
      <arglist></arglist>
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      <name>JointType3DoF</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1aec2348c9606df1958089c38be6e83635</anchor>
      <arglist></arglist>
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      <name>JointType4DoF</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a43363b9f2cfe0af784bbcc2f84b46ea0</anchor>
      <arglist></arglist>
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      <name>JointType5DoF</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1ac3f8ea451ed8e88e7bd76fad1ee355d8</anchor>
      <arglist></arglist>
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      <name>JointType6DoF</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a8240514795f9795c6b82b0509b2060bf</anchor>
      <arglist></arglist>
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      <name>JointTypeCustom</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1a0424508844b0376bd9e962c641f22ff7</anchor>
      <arglist></arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
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      <arglist>(Model &amp;model, unsigned int joint_id, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot)</arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
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      <arglist>(Model &amp;model, unsigned int joint_id, const Math::VectorNd &amp;q)</arglist>
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      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a2a535ac0058ad1a09913aaebab432bfd</anchor>
      <arglist>(Model &amp;model, unsigned int joint_id, const Math::VectorNd &amp;q)</arglist>
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    <includes id="Joint_8h" name="Joint.h" local="yes" imported="no">rdl_dynamics/Joint.h</includes>
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      <arglist>(JointTestsFixture, testJointJcalc_XJ)</arglist>
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      <arglist>(JointTestsFixture, testJointTypeConstructor)</arglist>
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      <arglist>(JointTestsFixture, testJointTypeAxisConstructor)</arglist>
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      <anchorfile>JointTests_8cpp.html</anchorfile>
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    <includes id="rdl__mathutils_8h" name="rdl_mathutils.h" local="yes" imported="no">rdl_dynamics/rdl_mathutils.h</includes>
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      <type>void</type>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &amp;G, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <type>Math::SpatialAcceleration</type>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <type>Math::SpatialMotion</type>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Qinit, const std::vector&lt; unsigned int &gt; &amp;body_id, const std::vector&lt; Math::Vector3d &gt; &amp;body_point, const std::vector&lt; Math::Vector3d &gt; &amp;target_pos, Math::VectorNd &amp;Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=50)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;H)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L, Math::VectorNd &amp;x)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L, Math::VectorNd &amp;x)</arglist>
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      <arglist>(1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1.)</arglist>
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      <arglist>(MatrixNd A, VectorNd b, VectorNd &amp;x)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;H)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L, Math::VectorNd &amp;x)</arglist>
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      <arglist>(Model &amp;model, Math::MatrixNd &amp;L, Math::VectorNd &amp;x)</arglist>
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      <anchor>ga5c9be9d1e944f7343b8f07d1ce2b5cf9</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodySpatialJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga35cb7ce7ecf82514560889d2f37b5359</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &amp;G, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactJacobian</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gaf9219f9d85cb8ea6c75cc24e1301e427</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const ConstraintSet &amp;CS, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactSystemVariables</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga7685d65c3ee0278a19cca4c7bfe938fc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMInvTimesTau</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaed5868aa554b411d02a3c36d50e55c87</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVector</type>
      <name>calcPointAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa41f2df7072b4929056dd6219bf9ef80</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointAcceleration6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gab178f8b31aaf3c1d2166b826c104cc4c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointAcceleration6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gac1fc71abbb937362b9559b349fefb030</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga06e6d21f8004baa4f8c304bbb7f34cc5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga9e26d636b4ec05dc205f4ea48091cfa2</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gab859a3c462b8f8cf3850b2d42da8d25a</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga38e7986ca6b97aaef4f25a798e342c49</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga14eb424f9bacc9e554a39b6a3d69cab7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gad0968194a51e47b0346fdb05f43b1066</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga717f61496d54e72c65cdfb8e95fdb6c3</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa93d89df0f0cd90feafddc5c07129129</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVector</type>
      <name>calcPointVelocity</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaaf08140e179ac81d1cc348eb6d95d07a</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga272597d591c72d56f9eb902720773fa8</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga0d6bead5f5837c581c40aacfe0271ad8</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga74cd588b256273c5a11b52aee1103d5c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativeBodySpatialJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa2846871672375fca0845c8f1f33e617</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativeBodySpatialJacobianAndJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga102cdfd09b7641fac54e62a5aa4c04b3</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativeBodySpatialJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaf34065df76cec82d9be35708c2174a4e</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativePointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga47caa44319661326fa1d543878f52b1d</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativePointJacobianAndJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga19a4cd5e6c8aa27e61c315c958c03cf7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativePointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga289159d6c647da09cdfab7be735737d4</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialAcceleration</type>
      <name>calcSpatialAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga20189fe09995f214284e82e92ac41bda</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialAcceleration</type>
      <name>calcSpatialAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga6a8a1101554d436905ec0ef058f84010</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialMotion</type>
      <name>calcSpatialVelocity</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gad001c8cd54aaacf5738e0e1619ebf502</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialMotion</type>
      <name>calcSpatialVelocity</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga31ab58ca9bb9a81e56c36673adfba4e5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>compositeRigidBodyAlgorithm</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga3ca45709dee48a60dcc11dabc9cdd6dc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;H, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gaf7949d2892b4abeca475b69ce324ba2c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga15c9d9c4c197d238fee28bc1c133d2e5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga4983c94fd6c54679d864c612263573d0</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamics</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga35abf9f7dc4a6b8e49f7071d4eeb6a35</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamics</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a1fa6291ac221a742e0051aff8340b66a</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;Tau, VectorNd &amp;QDDot, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsAccelerationDeltas</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>af147275ef8e051dd4b3b5151deff4c52</anchor>
      <arglist>(Model &amp;model, ConstraintSet &amp;CS, VectorNd &amp;QDDot_t, const unsigned int body_id, const std::vector&lt; SpatialVector &gt; &amp;f_t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsApplyConstraintForces</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a524a9554cc283acbde1fe9e66537032f</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Tau, ConstraintSet &amp;CS, VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gacafeb30a73e6c174556a77d4672f0668</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsKokkevis</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga3f9de1e8f43c8f7c39d64e3ac855d18f</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gae9f9a6e32415b9f4834f4efcda2460b6</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga545363dc54175b8e2c151662d1f40074</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsLagrangian</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaef15296f3713b1c84f5f35ffd1a27d5d</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsLagrangian</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a93cd506eab2351522d03d1fbdd291879</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;Tau, VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>gravityEffects</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaf7b656bc6f911ab59ffcfd8dc0fee891</anchor>
      <arglist>(Model &amp;model, Math::VectorNd &amp;Tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverseDynamics</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a766a20993bf2bcdcab36d09293d375e9</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;QDDot, VectorNd &amp;Tau, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverseDynamics</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga0d67353b07132a693ce500e3cb5a00bc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, Math::VectorNd &amp;Tau, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inverseKinematics</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaea4d147a4638793584b9457e35c08ba0</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Qinit, const std::vector&lt; unsigned int &gt; &amp;body_id, const std::vector&lt; Math::Vector3d &gt; &amp;body_point, const std::vector&lt; Math::Vector3d &gt; &amp;target_pos, Math::VectorNd &amp;Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=50)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inverseKinematics</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>af522b137573647f67c65f35bec08eb14</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Qinit, const std::vector&lt; unsigned int &gt; &amp;body_id, const std::vector&lt; Vector3d &gt; &amp;body_point, const std::vector&lt; Vector3d &gt; &amp;target_pos, VectorNd &amp;Qres, double step_tol, double lambda, unsigned int max_iter)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jcalc</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a40f0d5b0a2f38ae099b48aa2bfbdbd89</anchor>
      <arglist>(Model &amp;model, unsigned int joint_id, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jcalc_X_lambda_S</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a0d3eee2483a9294ff43d711ec45572e9</anchor>
      <arglist>(Model &amp;model, unsigned int joint_id, const Math::VectorNd &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialTransform</type>
      <name>jcalc_XJ</name>
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      <arglist>(Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;A, Math::VectorNd &amp;b, Math::VectorNd &amp;x, Math::LinearSolver &amp;linear_solver)</arglist>
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      <anchor>a7813867016b9c83f9d3e0656c2cb2cd9</anchor>
      <arglist>(const RobotDynamics::Math::SpatialMatrix &amp;t1, const RobotDynamics::Math::SpatialMatrix &amp;t2, const double epsilon)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkSpatialVectorsEpsilonClose</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>af49fa95c880a5f596838aeaa5f9ebe0a</anchor>
      <arglist>(const RobotDynamics::Math::SpatialVector &amp;v1, const RobotDynamics::Math::SpatialVector &amp;v2, const double epsilon)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkSpatialVectorsEq</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a1c7b812b191ae57ee432148408f56251</anchor>
      <arglist>(const RobotDynamics::Math::SpatialVector &amp;v1, const RobotDynamics::Math::SpatialVector &amp;v2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkVector3dEpsilonClose</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>af511c370a954da7c98de52bfe44d49b4</anchor>
      <arglist>(const RobotDynamics::Math::Vector3d &amp;v1, const RobotDynamics::Math::Vector3d &amp;v2, const double epsilon)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkVector3dEq</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a0006dea903d6d6100ebc8f6c0d27e486</anchor>
      <arglist>(const RobotDynamics::Math::Vector3d &amp;v1, const RobotDynamics::Math::Vector3d &amp;v2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkVector4dEpsilonClose</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a44b30e4c534f2209fb7656c6d7813577</anchor>
      <arglist>(const RobotDynamics::Math::Vector4d &amp;v1, const RobotDynamics::Math::Vector4d &amp;v2, const double epsilon)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkVector4dEq</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>af650d1bd1789f8c0425995d7e37334bf</anchor>
      <arglist>(const RobotDynamics::Math::Vector4d &amp;v1, const RobotDynamics::Math::Vector4d &amp;v2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkVectorNdEpsilonClose</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a02b64919adacd7e04f12c1d6e91a6b70</anchor>
      <arglist>(const RobotDynamics::Math::VectorNd &amp;v1, const RobotDynamics::Math::VectorNd &amp;v2, const double epsilon)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkVectorNdEq</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a2cc14c042445c45bbf12c0c5ceaf526a</anchor>
      <arglist>(const RobotDynamics::Math::VectorNd &amp;v1, const RobotDynamics::Math::VectorNd &amp;v2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RobotDynamics::Math::SpatialTransform</type>
      <name>createRandomSpatialTransform</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>afc88c7c43ce9e40b51e657496afd3fce</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReferenceFramePtr</type>
      <name>createRandomUnchangingFrame</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a2c70c7ddf336d5478a860f13b0f76e2d</anchor>
      <arglist>(const std::string &amp;frameName, ReferenceFramePtr parentFrame, const unsigned int movableBodyId)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ReferenceFramePtr</type>
      <name>getARandomFrame</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a9f20a63ea0de32dc5f292531be534394</anchor>
      <arglist>(std::vector&lt; ReferenceFramePtr &gt; frames)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>getRandomAngle</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a6740dacb60cdbdb379881abbd52a8134</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>getRandomNumber</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a6bc8eedb1b5920163a4973f00678bff9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>getRandomNumber</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a2301d20cdcb7c564d52394fc9cd9d67d</anchor>
      <arglist>(T min, T max)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Point3d</type>
      <name>getRandomPoint3</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a2a4e942068a66bbd9be23f7a5bfa3ab6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RobotDynamics::Math::SpatialTransform</type>
      <name>getTransformToRootByClimbingTree</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>aaff53c522cd61fc68d8b465e80ebc04e</anchor>
      <arglist>(ReferenceFramePtr frame)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>integrateEuler</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>abf8346ce6f640aeb333e234b8df6ae82</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::VectorNd &amp;x, const Math::VectorNd &amp;tau, double h, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrateRk4</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a1478d376299ab965e1d564d313aaf973</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::VectorNd &amp;x, const Math::VectorNd &amp;tau, double h, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr)</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>updateAllFrames</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a39faecde6f911ce3505fadb284bdb822</anchor>
      <arglist>(std::vector&lt; ReferenceFramePtr &gt; frames)</arglist>
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    <member kind="variable">
      <type>const double</type>
      <name>TEST_PREC</name>
      <anchorfile>namespaceunit__test__utils.html</anchorfile>
      <anchor>a091fb7b0b7e2f89b92cf5b15ca399967</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="group">
    <name>contacts_group</name>
    <title>Contacts</title>
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    <class kind="struct">RobotDynamics::ConstraintSet</class>
    <member kind="function">
      <type>void</type>
      <name>calcContactJacobian</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gaf9219f9d85cb8ea6c75cc24e1301e427</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const ConstraintSet &amp;CS, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcContactSystemVariables</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga7685d65c3ee0278a19cca4c7bfe938fc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gaf7949d2892b4abeca475b69ce324ba2c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga15c9d9c4c197d238fee28bc1c133d2e5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga4983c94fd6c54679d864c612263573d0</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gacafeb30a73e6c174556a77d4672f0668</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsKokkevis</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga3f9de1e8f43c8f7c39d64e3ac855d18f</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gae9f9a6e32415b9f4834f4efcda2460b6</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga545363dc54175b8e2c151662d1f40074</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveContactSystemDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga7318b8f1fb023b0b38517163effbeba2</anchor>
      <arglist>(Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;A, Math::VectorNd &amp;b, Math::VectorNd &amp;x, Math::LinearSolver &amp;linear_solver)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>solveContactSystemNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga9b0bb2fcd4b9ac4ae74b93bc9f1ae2d2</anchor>
      <arglist>(Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;Y, Math::MatrixNd &amp;Z, Math::VectorNd &amp;qddot_y, Math::VectorNd &amp;qddot_z, Math::LinearSolver &amp;linear_solver)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveContactSystemRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gac1c2573033133a985b393a66632f0fb7</anchor>
      <arglist>(Model &amp;model, Math::MatrixNd &amp;H, const Math::MatrixNd &amp;G, const Math::VectorNd &amp;c, const Math::VectorNd &amp;gamma, Math::VectorNd &amp;qddot, Math::VectorNd &amp;lambda, Math::MatrixNd &amp;K, Math::VectorNd &amp;a, Math::LinearSolver linear_solver)</arglist>
    </member>
    <docanchor file="group__contacts__group" title="Solution of the Constraint System">solution_constraint_system</docanchor>
    <docanchor file="group__contacts__group" title="Linear System of the Constrained Dynamics">constraint_system</docanchor>
    <docanchor file="group__contacts__group" title="Linear System of the Contact Collision">collision_system</docanchor>
    <docanchor file="group__contacts__group" title="Solution Methods">solution_methods</docanchor>
    <docanchor file="group__contacts__group" title="Methods for Solving Constrained Dynamics">solving_constraints_dynamics</docanchor>
    <docanchor file="group__contacts__group" title="Methods for Computing Collisions">solving_constraints_collisions</docanchor>
  </compound>
  <compound kind="group">
    <name>dynamics_group</name>
    <title>Dynamics</title>
    <filename>group__dynamics__group.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calcBodyGravityWrench</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaf61556c8c2ab33c66fdaf4123c484dbb</anchor>
      <arglist>(Model &amp;model, unsigned int body_id, RobotDynamics::Math::SpatialForce &amp;gravity_wrench)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMInvTimesTau</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaed5868aa554b411d02a3c36d50e55c87</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>compositeRigidBodyAlgorithm</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga3ca45709dee48a60dcc11dabc9cdd6dc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;H, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamics</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga35abf9f7dc4a6b8e49f7071d4eeb6a35</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsLagrangian</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaef15296f3713b1c84f5f35ffd1a27d5d</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>gravityEffects</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaf7b656bc6f911ab59ffcfd8dc0fee891</anchor>
      <arglist>(Model &amp;model, Math::VectorNd &amp;Tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverseDynamics</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga0d67353b07132a693ce500e3cb5a00bc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, Math::VectorNd &amp;Tau, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nonlinearEffects</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga9bb2cb017c925f40d9320d8387afcdaa</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::VectorNd &amp;Tau, bool update_kinematics=true)</arglist>
    </member>
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  <compound kind="group">
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    <title>Kinematics</title>
    <filename>group__kinematics__group.html</filename>
    <member kind="function">
      <type>void</type>
      <name>calcBodySpatialJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga5c9be9d1e944f7343b8f07d1ce2b5cf9</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodySpatialJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga35cb7ce7ecf82514560889d2f37b5359</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &amp;G, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVector</type>
      <name>calcPointAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa41f2df7072b4929056dd6219bf9ef80</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointAcceleration6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gab178f8b31aaf3c1d2166b826c104cc4c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointAcceleration6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gac1fc71abbb937362b9559b349fefb030</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga06e6d21f8004baa4f8c304bbb7f34cc5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga9e26d636b4ec05dc205f4ea48091cfa2</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gab859a3c462b8f8cf3850b2d42da8d25a</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga38e7986ca6b97aaef4f25a798e342c49</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga14eb424f9bacc9e554a39b6a3d69cab7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gad0968194a51e47b0346fdb05f43b1066</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga717f61496d54e72c65cdfb8e95fdb6c3</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa93d89df0f0cd90feafddc5c07129129</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>Math::FrameVector</type>
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      <anchorfile>group__kinematics__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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      <anchorfile>group__kinematics__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
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    <member kind="function">
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      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga74cd588b256273c5a11b52aee1103d5c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa2846871672375fca0845c8f1f33e617</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga102cdfd09b7641fac54e62a5aa4c04b3</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>group__kinematics__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
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      <type>void</type>
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      <anchorfile>group__kinematics__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga289159d6c647da09cdfab7be735737d4</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
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      <anchorfile>group__kinematics__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Qinit, const std::vector&lt; unsigned int &gt; &amp;body_id, const std::vector&lt; Math::Vector3d &gt; &amp;body_point, const std::vector&lt; Math::Vector3d &gt; &amp;target_pos, Math::VectorNd &amp;Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=50)</arglist>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot)</arglist>
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      <anchor>ga53563c1eb5244d661849011bba50e066</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd *Q, const Math::VectorNd *QDot, const Math::VectorNd *QDDot)</arglist>
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      <type>void</type>
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      <anchorfile>group__utils__group.html</anchorfile>
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      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, Math::Vector3d &amp;com, bool update_kinematics=true)</arglist>
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      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga49bcf2cb570706a88bc998e52fc39933</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, Math::FramePoint &amp;com, bool update_kinematics=true)</arglist>
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      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga25c4e01cdcce91ff1d66bf0c479f8ceb</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot, double &amp;mass, Math::Vector3d &amp;com, Math::Vector3d *com_velocity=NULL, Math::Vector3d *angular_momentum=NULL, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcCenterOfMassJacobian</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga2eabf12e4cf68179f36904948a0050f7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, Math::MatrixNd &amp;jCom, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcCentroidalMomentumMatrix</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>gae021d6eb466f7ac7b23b069dd86898be</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, Math::MatrixNd &amp;A, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcCentroidalMomentumMatrixDot</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga05d8d9149b5f5f26e3a92583c30091e7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot, Math::MatrixNd &amp;Adot, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>calcKineticEnergy</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga0f79e2371abac716989dc37a40dc88e2</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>calcPotentialEnergy</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>gaa65fed64e27b048b978e96f695436414</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>Math::Vector3d</type>
      <name>calcSubtreeCenterOfMassScaledByMass</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga7c7023baa7a9892b1cf4eca58b919147</anchor>
      <arglist>(Model &amp;model, const unsigned int bodyId, const Math::VectorNd &amp;q, bool updateKinematics=true)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>calcSubtreeMass</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga030d4dfdaa3e8f2db8e32c53563b6190</anchor>
      <arglist>(Model &amp;model, const unsigned int bodyId)</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getBodyName</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga7230eb40cfc679f1d5bd484c16b7aab4</anchor>
      <arglist>(const RobotDynamics::Model &amp;model, unsigned int body_id)</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getDofName</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga5c2c46d425559a030539e399c5bd8e8f</anchor>
      <arglist>(const Math::SpatialVector &amp;joint_dof)</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getModelDOFOverview</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga459aa0a2ca81c0747a23c4de9735a95e</anchor>
      <arglist>(const Model &amp;model)</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getModelHierarchy</name>
      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>gad783ad5fdc1a16c4475f5435eb2032fa</anchor>
      <arglist>(const Model &amp;model)</arglist>
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    <member kind="function">
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      <anchorfile>group__utils__group.html</anchorfile>
      <anchor>ga8190374b5ed3faf07c2c925d484c8549</anchor>
      <arglist>(Model &amp;model)</arglist>
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  <compound kind="group">
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    <class kind="class">RobotDynamics::FixedReferenceFrame</class>
    <class kind="class">RobotDynamics::FrameObject</class>
    <class kind="class">RobotDynamics::Math::FrameOrientation</class>
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    <class kind="class">RobotDynamics::ReferenceFrameException</class>
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    <class kind="class">RobotDynamics::Math::SpatialForce</class>
    <class kind="class">RobotDynamics::Math::SpatialInertia</class>
    <class kind="class">RobotDynamics::Math::SpatialMomentum</class>
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    <member kind="function">
      <type>void</type>
      <name>calcCenterOfMass</name>
      <anchorfile>group__reference__frame.html</anchorfile>
      <anchor>ga02c1e375f9c7f39f7eee40a0396be416</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot, double &amp;mass, Math::FramePoint &amp;com, Math::FrameVector *com_velocity=nullptr, Math::FrameVector *angular_momentum=nullptr, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>group__reference__frame.html</anchorfile>
      <anchor>ga176ed4eac95dd9c8ee388d0b017537a5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;q, const Math::VectorNd &amp;qdot, Math::FramePoint &amp;com, Math::FrameVector *com_velocity=nullptr, bool update_kinematics=true)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>group__reference__frame.html</anchorfile>
      <anchor>ga2b4ab6d32d11dcc35f9ad08c7a8fa256</anchor>
      <arglist>(ReferenceFramePtr referenceFrame) const</arglist>
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    <member kind="function">
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      <anchorfile>group__reference__frame.html</anchorfile>
      <anchor>ga21812b4335225e36c05fe7ff19a5c5fd</anchor>
      <arglist>(ReferenceFrame *referenceFrame) const</arglist>
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      <anchor>ga917843d43ba8d872e92fb0a5ba9cad2f</anchor>
      <arglist>(const std::string &amp;frameName)</arglist>
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      <anchor>gaf3ec5e505c5c8314a16ac8c97abaaf43</anchor>
      <arglist>(const std::string &amp;frameName=&quot;World&quot;)</arglist>
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      <name>FixedReferenceFrame</name>
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      <anchor>ga3cb7d2b0fc271764106e0af761f3d272</anchor>
      <arglist>(const std::string &amp;frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &amp;transformFromParent, unsigned int movableBodyId)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual RobotDynamics::Math::SpatialTransform</type>
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      <arglist>()</arglist>
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      <anchorfile>group__reference__frame.html</anchorfile>
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      <arglist>() override</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(RobotDynamics::Math::SpatialTransform &amp;transformToPack, ReferenceFramePtr desiredFrame)</arglist>
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      <arglist>(ReferenceFramePtr desiredFrame)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>() override</arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::string &amp;frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &amp;transformFromParent, bool isBodyFrame, unsigned int movableBodyId)</arglist>
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    <member kind="function">
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      <arglist></arglist>
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