<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>.cmake-format.py</name>
    <path>/tmp/ws/src/tsid/cmake/</path>
    <filename>_8cmake-format_8py</filename>
    <member kind="variable">
      <type>dictionary</type>
      <name>additional_commands</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a8cd55c6964141a36d7bcff837e133765</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>always_wrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aebb5b29065eef979e155f9c10ea094cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>argument_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0b7f68e3e121c12c19825d074a4ae4d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>autosort</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>af2d9dab966ea5cb253a0fa6801dc6f61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>bullet_char</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a37da8b42a5956d0833567bacaf03ac4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>canonicalize_hashrulers</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ad2801af0106bb9a65cf464a65ff48daf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>command_case</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa391edf790c756c11256322a724aa340</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>dangle_align</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a88159db6694b6a3e85a0b8a9698f9acc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>dangle_parens</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5546a489bf01dfb0f0b6cbd434bc291d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>disable</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a4f6a7f253bdd17de45549df1fc71b8c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>disabled_codes</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa0c3d1f54a93bd873dfd8e9de8d677f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>emit_byteorder_mark</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a905dd967518f77e38066d8f6ad51f1b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>enable_markup</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>add95109445456c48a236fa50ced0b8b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>enable_sort</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ae3811857c44c7491f2e825c32300e18d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>enum_char</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a13f575ae683058cb5892822cbcd7ef4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>explicit_trailing_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0d754d92152d1abfee0f64335dcf2d1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>fence_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa5237480c6984cf592665b2a1b2a3598</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>first_comment_is_literal</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ad1626fa06a267c67ff192e9127a3d204</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>fractional_tab_policy</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a00902e3a829e9bb1ebec606f440e9192</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>function_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a26110ecb5b28b1014c5e1cbe52cb0f19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>global_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0428e47b69ef9d6878431ebbe8876ead</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>hashruler_min_length</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ab031048c295974cc9b9ec126ff4fc97c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>input_encoding</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a28dae02ab9fb6360374dcf773139378e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>internal_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a201576987a69c1a36148a92a5707f406</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>keyword_case</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a9938cbe2f219f079e947ae12654607ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>keyword_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a598e20c27a31e694906f8ea406df4a9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>layout_passes</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a3957d1acb8ca81d37f147f7d0e660dc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>line_ending</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ace2c8e218e29af79ec0e147277fb0a71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>line_width</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5b5068114e71c53f803684b48ffa4b8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>literal_comment_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ab3ec0aec03cc166974301e55c7dcfd8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>local_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa3ff7a61387b0e26e73a76d2070bf628</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>macro_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a2da248a108e5c0642096de5109c7febd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_arguments</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a1d4759af9e0636118e37823aea12d606</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_branches</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a4cc5f4357535cec2d480305c701f5b99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_conditionals_custom_parser</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a51c60b48388bce6bb602334d699b2936</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_lines_hwrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a1d2e5b10bd672b1db1f109e59b9fb33a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_localvars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aea914b45bc59cc6a4392e2995022656b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_pargs_hwrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a9ddde830369841f996754f8c6092afcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_prefix_chars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>abede2c7b77bfe0138900fee140425ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_returns</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>afff5987aa31f3328f9dc551e7be3ade3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_rows_cmdline</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a43107dde16c2f491cd6e27c31d8d5515</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_statement_spacing</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ad18eefc574593101df511cac427090b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_statements</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ae22b5687111f8dbaa6be211d8c556e38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_subgroups_hwrap</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a8b850463f83b20258f97ae5d883e34fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>min_prefix_chars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5b2e65943a58add4c14942f22b200971</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>min_statement_spacing</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a5e4c0fe4de7af629595d16e8f4f5b0e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>output_encoding</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a2600507109736b20a8d075974d7b55e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>override_spec</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>aa4936309bd67aaa1d91a0731e603e3fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>per_command</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ab899b4929027e49d40dade1607d17239</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>private_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a40673f1f5f2e10fbc80b2c3aba8eef4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>proptags</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a4d2e6ab37b10bca0d6ad13e767d714b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>public_var_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a0fc941a0d7e00d123cd5aa13b19b1980</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>require_valid_layout</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a7c21baa2d171e800a38bb35783d6077f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ruler_pattern</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a6bd6408fc1e6c284245f01e02f2a01f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>separate_ctrl_name_with_space</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a95c7e2bf52adb202173e741a3c15ad09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>separate_fn_name_with_space</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>acf0bb78bfacc6b8cb38ccc1423415326</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tab_size</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>af634cb3f98b322229c1e701ada444e39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>use_tabchars</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>ae8d8dd08b44557cba0e8877585fb81e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>vartags</name>
      <anchorfile>_8cmake-format_8py.html</anchorfile>
      <anchor>a683ea82c3dd9441a236957ed3d6df43b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>__init__.py</name>
    <path>/tmp/ws/src/tsid/bindings/python/tsid/</path>
    <filename>____init_____8py</filename>
    <namespace>tsid</namespace>
  </compound>
  <compound kind="file">
    <name>compile.py</name>
    <path>/tmp/ws/src/tsid/cmake/</path>
    <filename>compile_8py</filename>
    <namespace>compile</namespace>
    <member kind="variable">
      <type></type>
      <name>builddir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ac0fb4d34948a7d3fda2106686391a656</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comp</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a4cf5d6b0ce4e98e41539a25339052088</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>doraise</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ac1d4ef7f8831ee0e882d8f2d661c6c73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a46be63463291fe312cb52b5643ad6c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ad462a24edb35c4e395d20b7721d7ade7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>srcdir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a0d2cf1092f70ef943044bbfdce3979b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>constraint-base.cpp</name>
    <path>/tmp/ws/src/tsid/src/math/</path>
    <filename>constraint-base_8cpp</filename>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="no" imported="no">tsid/math/constraint-base.hpp</includes>
  </compound>
  <compound kind="file">
    <name>constraint-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/math/</path>
    <filename>constraint-base_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <class kind="class">tsid::math::ConstraintBase</class>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/constraint/constraint-bound.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/constraint/</path>
    <filename>bindings_2python_2constraint_2constraint-bound_8cpp</filename>
    <includes id="bindings_2python_2constraint_2constraint-bound_8hpp" name="bindings/python/constraint/constraint-bound.hpp" local="yes" imported="no">tsid/bindings/python/constraint/constraint-bound.hpp</includes>
    <includes id="expose-constraints_8hpp" name="expose-constraints.hpp" local="yes" imported="no">tsid/bindings/python/constraint/expose-constraints.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintBound</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a202bf4ab3bb395da0e1f7965ff1b65b1</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/math/constraint-bound.cpp</name>
    <path>/tmp/ws/src/tsid/src/math/</path>
    <filename>src_2math_2constraint-bound_8cpp</filename>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="no" imported="no">tsid/math/constraint-bound.hpp</includes>
  </compound>
  <compound kind="file">
    <name>bindings/python/constraint/constraint-bound.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/constraint/</path>
    <filename>bindings_2python_2constraint_2constraint-bound_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="yes" imported="no">tsid/math/constraint-bound.hpp</includes>
    <class kind="struct">tsid::python::ConstraintPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>math/constraint-bound.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/math/</path>
    <filename>math_2constraint-bound_8hpp</filename>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="class">tsid::math::ConstraintBound</class>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/constraint/constraint-equality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/constraint/</path>
    <filename>bindings_2python_2constraint_2constraint-equality_8cpp</filename>
    <includes id="bindings_2python_2constraint_2constraint-equality_8hpp" name="bindings/python/constraint/constraint-equality.hpp" local="yes" imported="no">tsid/bindings/python/constraint/constraint-equality.hpp</includes>
    <includes id="expose-constraints_8hpp" name="expose-constraints.hpp" local="yes" imported="no">tsid/bindings/python/constraint/expose-constraints.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a5c6e562479ae4770a0e9e376a27a183b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/math/constraint-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/math/</path>
    <filename>src_2math_2constraint-equality_8cpp</filename>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="no" imported="no">tsid/math/constraint-equality.hpp</includes>
  </compound>
  <compound kind="file">
    <name>bindings/python/constraint/constraint-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/constraint/</path>
    <filename>bindings_2python_2constraint_2constraint-equality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="struct">tsid::python::ConstraintEqPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>math/constraint-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/math/</path>
    <filename>math_2constraint-equality_8hpp</filename>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="class">tsid::math::ConstraintEquality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/constraint/constraint-inequality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/constraint/</path>
    <filename>bindings_2python_2constraint_2constraint-inequality_8cpp</filename>
    <includes id="bindings_2python_2constraint_2constraint-inequality_8hpp" name="bindings/python/constraint/constraint-inequality.hpp" local="yes" imported="no">tsid/bindings/python/constraint/constraint-inequality.hpp</includes>
    <includes id="expose-constraints_8hpp" name="expose-constraints.hpp" local="yes" imported="no">tsid/bindings/python/constraint/expose-constraints.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintInequality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a8104d0a247620a080e639dce70134406</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/math/constraint-inequality.cpp</name>
    <path>/tmp/ws/src/tsid/src/math/</path>
    <filename>src_2math_2constraint-inequality_8cpp</filename>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="no" imported="no">tsid/math/constraint-inequality.hpp</includes>
  </compound>
  <compound kind="file">
    <name>bindings/python/constraint/constraint-inequality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/constraint/</path>
    <filename>bindings_2python_2constraint_2constraint-inequality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <class kind="struct">tsid::python::ConstraintIneqPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>math/constraint-inequality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/math/</path>
    <filename>math_2constraint-inequality_8hpp</filename>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="class">tsid::math::ConstraintInequality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
  </compound>
  <compound kind="file">
    <name>constraints.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>constraints_8cpp</filename>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="no" imported="no">tsid/math/constraint-bound.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="no" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="no" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>constraints_8cpp.html</anchorfile>
      <anchor>ad45f3c2fb34791186a7d1a0f111861da</anchor>
      <arglist>(test_constraint_bounds)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>constraints_8cpp.html</anchorfile>
      <anchor>acfeb4a1db8299c3daa7982e8f1e86dab</anchor>
      <arglist>(test_constraint_equality)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>constraints_8cpp.html</anchorfile>
      <anchor>aa4b437e2caafecd228c40b3d3fc9242e</anchor>
      <arglist>(test_constraint_inequality)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/contacts/contact-6d.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/contacts/</path>
    <filename>bindings_2python_2contacts_2contact-6d_8cpp</filename>
    <includes id="bindings_2python_2contacts_2contact-6d_8hpp" name="bindings/python/contacts/contact-6d.hpp" local="yes" imported="no">tsid/bindings/python/contacts/contact-6d.hpp</includes>
    <includes id="expose-contact_8hpp" name="expose-contact.hpp" local="yes" imported="no">tsid/bindings/python/contacts/expose-contact.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeContact6d</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a02fe27465c6476659346d23d26635e72</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/contacts/contact-6d.cpp</name>
    <path>/tmp/ws/src/tsid/src/contacts/</path>
    <filename>src_2contacts_2contact-6d_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="contacts_2contact-6d_8hpp" name="contacts/contact-6d.hpp" local="yes" imported="no">tsid/contacts/contact-6d.hpp</includes>
  </compound>
  <compound kind="file">
    <name>bindings/python/contacts/contact-6d.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/contacts/</path>
    <filename>bindings_2python_2contacts_2contact-6d_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="contacts_2contact-6d_8hpp" name="contacts/contact-6d.hpp" local="yes" imported="no">tsid/contacts/contact-6d.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <class kind="struct">tsid::python::Contact6DPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>contacts/contact-6d.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>contacts_2contact-6d_8hpp</filename>
    <includes id="contact-base_8hpp" name="contact-base.hpp" local="yes" imported="no">tsid/contacts/contact-base.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::contacts::Contact6d</class>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>contact-base.cpp</name>
    <path>/tmp/ws/src/tsid/src/contacts/</path>
    <filename>contact-base_8cpp</filename>
    <includes id="contact-base_8hpp" name="contact-base.hpp" local="yes" imported="no">tsid/contacts/contact-base.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>contact-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>contact-base_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="robots_2fwd_8hpp" name="robots/fwd.hpp" local="yes" imported="no">tsid/robots/fwd.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <class kind="class">tsid::contacts::ContactBase</class>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>contact-level.cpp</name>
    <path>/tmp/ws/src/tsid/src/formulations/</path>
    <filename>contact-level_8cpp</filename>
    <includes id="contact-level_8hpp" name="contact-level.hpp" local="yes" imported="no">tsid/formulations/contact-level.hpp</includes>
    <namespace>tsid</namespace>
  </compound>
  <compound kind="file">
    <name>contact-level.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/formulations/</path>
    <filename>contact-level_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="contact-base_8hpp" name="contact-base.hpp" local="yes" imported="no">tsid/contacts/contact-base.hpp</includes>
    <class kind="struct">tsid::ContactLevel</class>
    <namespace>tsid</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/contacts/contact-point.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/contacts/</path>
    <filename>bindings_2python_2contacts_2contact-point_8cpp</filename>
    <includes id="bindings_2python_2contacts_2contact-point_8hpp" name="bindings/python/contacts/contact-point.hpp" local="yes" imported="no">tsid/bindings/python/contacts/contact-point.hpp</includes>
    <includes id="expose-contact_8hpp" name="expose-contact.hpp" local="yes" imported="no">tsid/bindings/python/contacts/expose-contact.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeContactPoint</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4436afe247df70e6e5587af512636c1d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/contacts/contact-point.cpp</name>
    <path>/tmp/ws/src/tsid/src/contacts/</path>
    <filename>src_2contacts_2contact-point_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="contacts_2contact-point_8hpp" name="contacts/contact-point.hpp" local="yes" imported="no">tsid/contacts/contact-point.hpp</includes>
  </compound>
  <compound kind="file">
    <name>bindings/python/contacts/contact-point.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/contacts/</path>
    <filename>bindings_2python_2contacts_2contact-point_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="contacts_2contact-point_8hpp" name="contacts/contact-point.hpp" local="yes" imported="no">tsid/contacts/contact-point.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::ContactPointPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>contacts/contact-point.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>contacts_2contact-point_8hpp</filename>
    <includes id="contact-base_8hpp" name="contact-base.hpp" local="yes" imported="no">tsid/contacts/contact-base.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::contacts::ContactPoint</class>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>contacts.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>contacts_8cpp</filename>
    <includes id="contacts_2contact-6d_8hpp" name="contacts/contact-6d.hpp" local="no" imported="no">tsid/contacts/contact-6d.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="no" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <member kind="define">
      <type>#define</type>
      <name>REQUIRE_FINITE</name>
      <anchorfile>contacts_8cpp.html</anchorfile>
      <anchor>acf09914116cb7635f2bb156d5e2f067f</anchor>
      <arglist>(A)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>contacts_8cpp.html</anchorfile>
      <anchor>ad658d958b8a748d5fd72f66b7288c975</anchor>
      <arglist>(test_contact_6d)</arglist>
    </member>
    <member kind="variable">
      <type>const string</type>
      <name>romeo_model_path</name>
      <anchorfile>contacts_8cpp.html</anchorfile>
      <anchor>a3b8707638c03334520caf70e3fe008aa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>container.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/utils/</path>
    <filename>container_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="yes" imported="no">tsid/math/constraint-bound.hpp</includes>
    <class kind="class">tsid::python::ConstraintLevels</class>
    <class kind="class">tsid::python::HQPDatas</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="typedef">
      <type>solvers::ConstraintLevel</type>
      <name>ConstraintLevel</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af18eb7dd14285d5dcb93d0eb3628a9d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>solvers::HQPData</type>
      <name>HQPData</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab3312a268b9da99e0ef963eaa73ca505</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>demo_quadruped.py</name>
    <path>/tmp/ws/src/tsid/demo/</path>
    <filename>demo__quadruped_8py</filename>
    <namespace>demo_quadruped</namespace>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a85f80ebdff1d27fcb35552ae08517a5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>aab8fb173d41488849ab42d1a4f56718e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cl</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a650c0f1d8b42f3840d1d8f8b29b44f41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab1e3d6f2b20ac8c2b8c1e989e0ed4f7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>com_acc_des</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab5ab7b43fc0030def33cb4860131db4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3cf2650ae27be7487ce47054ea7f6f33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a65ae6adae84b9d4ce85e35cdc3e4e84b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af9a43d6ebbfa243a1ef0363c81ef1498</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a63a52aca6405a59a16f1831fc03b3644</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a19ccdef792828704fa8c9b1e2763f2d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abaa6e7c02c9ec7ec22e812c3a91a5cc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comTask</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3019795549207af7a045dc509b7fe879</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>contact_frames</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0adbc5747b6c71e0827c4777c28260ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a9ef4b35e554385b856867a7b969e6678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>contacts</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af20771835e9deddd28d7a6ff61bd893c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>adb998eeaae2384615a631c8a8949a6f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ae12bfc8980730b10cb737c7af0f175ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a70e161873f7540da18790f8db738681d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a6e4e5d050996193fa7542e72cbe70327</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>end</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>acc71178a02ed29fd9a7609e046fd50c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a65f898f79f647e8d58c15baae6e20567</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abaaba66b93c5f3b3716497a7b2ea5b8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ad45fc6a6c60296903b078d0f0897bd4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3413dbea4b284b4ddf6662b29853aadc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gui</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3524276454fc77895e58ef4d20ff8c21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0b78cb61befe77f1721c0e057c0edf20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a68a6b2f56b9df0322ddad9b95ac2cc34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>id_contact</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abe58b4bfb72053bc0c781f0ebf8398e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>invdyn</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a31e003744c14182943737e9b90ef5393</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a90ff34a94d050bcb3076111e2a3a72a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab2a52412ddaa3fd9e4014380fe038fca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af7358b73c7f69b1b43a8b359e6ff08a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7306aeafad1cead7ae3c7a6f59c5fbc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a9cd897b833aa73f988c6af448e63d9ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a2974c255651048a1c92eb1b2289a7628</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a5e6acbd5e603e3b995041c1c72ffcd54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ae4b82c63ed85851ad8ef84c7a5a708a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>loadModel</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a86743a2d6adc0e41349bf11543a03bab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abf41c3dbadf5c56d8fe382f9b8bd7f48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a9686ec7b21d9ed66251485477864d751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af201a3af4cb9c4ed69322301d2717519</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a962a0aff3e4254705a0dea8fdd7a1af2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7d1d6ffc33f248f4f5c53101ab39289f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>aa088d3e013049bbd827f6c09c1e67848</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ad4e84b62d8e007bce46ff68b665c0ddb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a38dcabf6ee9fb53583272a880b8cbada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3679d39c91e5ebdef33581a89529d85b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7435b6a384a1047941d3b993c9bc1759</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot_display</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab5158d919bfe381f0ad4f2af383907a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a5a1b92fb427d9d01ae24a0c21c479673</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a82267dc8952a3a44d616af7f1ae7d66d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0a1548d1533dc242d6d8eb7b5a21e528</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a98c803d0213e4b74b59a5980360e13fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7eda12831b3fe5d2160c65a95502590c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7c4c546da9ed585ca7c50dcedcd6016d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>acd7c829df9c50d0145866a032c5fd117</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a732518bf0225f82de6cb42e4d5cf6293</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a5ce892e31ce70542cf7f05986d382f5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a8777231c51ab4c2162214735ec3fa428</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajCom</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a17653e626aec7bad285e84e49e23c578</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af0731fb965d11df3c24e9e474b58ea9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a6ac31254bf901a6fef3203d2cdf85378</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a81f59fe72ee0bb11d5297d00ecc0a73f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a346236edeeabf79d8d58a0fcba66569e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a53de9bd377aa170ea43b4c72a5e9a948</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a34795be2351afbed066664ba63e83058</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_mean</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0815499a187e0771e80177b3ec9cb7d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>acd4cd6cb708d659b845f772553f3d28c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a2d8d50a88f562abebaa01431e430b8fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ac62e39f3d48045b5fdb4ef158f990cac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a55a9b78f29a85f8b10a895b2f3b38b44</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>dummy.cpp</name>
    <path>/tmp/ws/src/tsid/cmake/cython/</path>
    <filename>dummy_8cpp</filename>
  </compound>
  <compound kind="file">
    <name>ex_0_ur5_joint_space_control.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__0__ur5__joint__space__control_8py</filename>
    <namespace>ex_0_ur5_joint_space_control</namespace>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a8180aea0a5c63ef000c824ec8d1938b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a77aeae0ac73b08bd276bb56b9cbd96dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dt</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a57dd6acb54234dd339e1f42210c70fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a95df2d8e480093939877c5a3f28f8b51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_des</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>af3fae0c60a42a83c9a025b9019625eb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_ref</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a8c49ff425087df3bd75ba1342c750b7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a893ef383a1123d8e53ff2726436f3879</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>formulation</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a567f732461c3e18f2a678542232c6fc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a4e0b4a815ce2c862d7644e8e427cbe9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a6fca6be0dcfdcf61dd07b5de52b52447</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ad0b310c483f61a3e53f69223219ff2c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a2a69662dcc2c69a62e0bf2d9054c54c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>loadModel</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aae6c0da15e0b8f384a08377bae56613d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a05452c0468c33f2585252323e951a1ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a3061d9e99a4026c7c5fc6142921c2ccd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a02d393ed6a469921c4b5d4b1b2bb3cf5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_ACC</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a0366b65fd4be705144f8efbf891d07ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_POS</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a23b64f834ee963a72c180fe8cc2c7a8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a8f64e45031ead905645da8dd6f536a3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aa18c4a86f752ae4c8172a9a667d633fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a6ca512d170192c5dbfe0fcc88fae207d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aa2f27cf11150e0b236856e6020e98ffe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ad8e035bc66838d5a30f8f5fa4f396c35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a28be62a46e41d0945da89a90837d83f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>adc4f723f9e0735567280e18d4c9431a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot_display</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ae87d2f09bfebf4194eed631c34820ca8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a5f79b95aa824855eaa0a5b9034ca3c9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a0531efa7ac6ac9fea3af5971d16a6e11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ada2cb722a27b9bfc557a6dd1196ed040</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a84f1afd095411dedf5df0083decb4dc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a16aa1cad14ab006b9593c5e161989f73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a0e1193a66ab9817491e998a07ea2ff0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ab81214165c20ec48a5f0aadc21a719b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a24b36df2ac2191e7d0db491377cfdbbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a767f7a05b2760ace9d68fad128610593</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>abd9ea9adea06135b6c5b0857755cf552</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aa2e76dd31be53008ea00a6512ae93f3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a3c285a5d70690a7d32c143034317e5b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_VIEWER</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a70a528788435bae76ef2bab00f3413e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ab458e1f8884859d2f9cadddc58c691a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ae4475150684dcc4607c2900fd7976547</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_max</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ab2a6ec1ecd3b241e08494a1f46ea0847</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_mean</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a9939d4c30b5e3c584339fc1d12f4b2f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_min</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a29e74d170dd3b43267ff8fa52b787971</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_ref</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a131fe7fe2b7831d5d043a77bd02902e4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_1.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__1_8py</filename>
    <namespace>ex_1</namespace>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a288571ecd21c1f430e29e40e663eb47a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a84a77b55fb30b415dfdf65d2f223b6bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_des</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a2d4d0734a8274d83576138f966d19078</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ae8b029d97ec96aa0d0df61eaf2e43872</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ae5a152e8d3d73f6a315039057706c543</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab4f87050629c3f1d9ea7748779372c49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a48ad8cab2188a4f105590404576a14bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a58d1e7e31714ce2cfb3432e515db1251</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a852c0e6ed419a24c48e792098c0e4814</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab188536064207e4867fcb70e3eb2b221</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>abcbe143a545cd5cbae48d5a652a7fbcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ac770af1fc04000bdaf9cdfc513cc2b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ad303b78fd47a14ed508c08937c07f12a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a50d59fb9e66a44085d577f4e36263047</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>aa8c823cc94c5096965c29003d2efc67b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab84cc465e05b0e2de9b1388278f25851</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab19cd438c67cc8029afa4418bc52cb23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ac71f1b4fa3d844ab089193b98937ace1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a0360561a06e8cdcde7b936db2eaff12f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>af6c05a3ebf82803a6413b37af1ce0721</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a06890bcf26f833f5ef1a7bfa01a7cecf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a8223f8ae5fe10c243ee0cf46d411778c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a56a93bab8c1b27817ee5b50684d33147</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>abcec3d7fce82a0f7d90a9db7e2309e7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a9ad1000d25256266a446cd4b38152163</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_1_ur5.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__1__ur5_8py</filename>
    <namespace>ex_1_ur5</namespace>
    <member kind="variable">
      <type></type>
      <name>aEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a6fbc64cee971fed0c700b76e88e387a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aa2e07f4228056d48823a20f8397409e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a16e85917b5fe18949d06efefe23ed5c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_acc</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a21d5afc7d526e36ee66a325e61b0f2cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_acc_des</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a22e5740dc67ef44f006ea934694f434e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_acc_ref</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a042d305f0aece6f1df3fc654f9e745e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_pos</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a05acd126e1be7df4553dc229167dce28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_pos_ref</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a7f0dbe4ead18875d5051cf05e751cff8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_vel</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aee5a9419823adae2cd93c5f631249a24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_vel_ref</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a703d42b77c2998c6b09b2ae2e652b3c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a549be85af79a748e268e66e82b257953</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a53127398fe6f5430c59fb10e7cb7f1f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ad69fafe4317184f723ed165866c1a651</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a1fbb9d8670e24ab9c396eb72000fa20c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ad520e3770684ab990fae8e1c3c4cf03c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a00455574f726c347e17e057a68e6ca56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a42e2907e3f4ff8d3f4da9fd0b0d89172</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_EE_ACC</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a31c87ef55ff3be85643814d788bf6dd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_EE_POS</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a3c9f180b9ea714f74aa796132af6daed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_EE_VEL</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>affa1022e6b0117eb7cea4e59d0687a95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ad0f5306fbe518200601b6e4aa135557c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a7c7fa1b09c1fccf5b839ed8733218e53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aa096a283b0a8184d6cbcb73431818d58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a5bec6988f9012e6267d82c0824b02345</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ab96fbbdf69117960ded4606b5b0a7e73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aa67c285d19207a86a24bcb469bff5a73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a9f84e5bbb022e08564ab672f660a51a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a640f9c0174229968c4fd12f9c7084402</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a59975e10bf3de37f1e87a902b5bc9613</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>af12d9fff867275c6367427a26a2ae0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a9433881f0923bfedc8f67e55072c30f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a248d92bbebce9bf763302f2a1e4d9768</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aefdb1d31ecac62dddcb0d58a67b91794</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a694f578c0dbb9dcf7c1c0d11e438040a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ae1862ac4adb412bcb11db69fedfb6091</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a78abb258fcd69fac93cb1b220f4fd340</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_2.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__2_8py</filename>
    <namespace>ex_2</namespace>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a215e63540ca361d68202923786bf6e48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>abe0fa03c7f2da25802500dadf2c3da0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a45d6d68bdf20e9af58e187b0e3b52ff9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_des</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>abc1fa43768afc6e931abebfe31139853</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aadcf18bbb486929a67fe9d2ddc5c2f80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aa87df29eb3ffafd20f9715dff79bafc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>afbd77e43fbe96bdec8bd1151bb42936d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a418fd9ae417d11a92c109f95d8d000be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a64737e0e871ee33ca196ca8b17a60782</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a25072bbd3f87e39f25fa3a746b633646</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a4a6b4c57471b1cf4ae111567ef8bf5e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a2d20001e7b5f588f58ba2b4eeacbe3d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a0cae9811da75f1a0f9d222971cdf1a01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a7741b252baf9c212448cdf9d34bb88f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a6f4ce74e236662b59a6beac3c4404637</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a4e1effd14f08fbcd7f6352b62d460758</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a7176d723c2add8283bc21bec882d8081</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a5923a5942aab3405c29c7227e8bd0903</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a91c34e76927f2e722d178b4fcc41800c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a791cc55992efa12d982e6570088e09ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a25750536c8419b3572349dc7d1c10bdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a21c654a0c75d83ae75e1bde9f14767c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a385175d52175f40033dc2c59e889bb3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>ae57869e4a1b5cb6b176ada76c961f2ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a865691257e391637107a0e5ceb25dc51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>ae26f9389e746f61a16ae0b5332f46082</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aae22b1d60e60086ed0c92987fe1669c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aa2a205bbb25775cca757afafa84ad24d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a36468401f62791cc5b35c991da14883b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aedfc94a1fa819bdb27b01e8636014282</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_3_biped_balance_with_gui.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__3__biped__balance__with__gui_8py</filename>
    <class kind="class">ex_3_biped_balance_with_gui::Entry3d</class>
    <class kind="class">ex_3_biped_balance_with_gui::Scale3d</class>
    <namespace>ex_3_biped_balance_with_gui</namespace>
    <member kind="function">
      <type>def</type>
      <name>create_gui</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a1be78bdf1aca3a3ce768df343612362e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>push_robot</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>af406ca48bb5e26ebea8ce666c6cb23a8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run_simu</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a664765d5ab7074a63e14c1412756ab56</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>switch_contact_LF</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a1105357b43e2343d0f1ebf9f48aaaf7a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>switch_contact_RF</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a30ba48b1721eb3c0529ebfad7fb4aeb0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>toggle_wireframe_mode</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a2c028e78267ea4df4c8e627092e1fb1b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_com_ref_scale</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a961d1658ae270b86c6eb90707070b985</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_LF_ref_scale</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a580298b2ea1abf2041095594486b0a77</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_RF_ref_scale</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a3c53cc2875fe2f86a5200b0e4248b816</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>AXES</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a349c87a1de615466d93bdb6ab7b5498e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_0</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a82fda9fd660d8b285ea4707f7cec5d9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_lf_0</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a6fb68d45bd41945b7f69e8657c3ee4d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_0</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>adc6eb5006d5f673daabf179f55da5ca4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>th_gui</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>aa136e8fa41d33c9c2b7f6ae6640188e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>th_simu</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a18d71d354b9d7924cc75748bb17b4857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a4fc1a3dadc551de9415525468ef83f99</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_4_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__4__conf_8py</filename>
    <namespace>ex_4_conf</namespace>
    <member kind="variable">
      <type>int</type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a34719931518739af4a5ba61a122c1c2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>beta</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>abd2554dd3c5f3d2e19b022ff0134674b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>acb3c93ef1acf8f3cc9a8af940402495d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a87b06fa32580fb45ed67b9d34a695893</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_LIPM</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a02c951a027317b0e238e9f989d28f302</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_TSID</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a9fb12faf05bf1a11c72ddd3898305c3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a652cdb437cb830814353ff15e16af97c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a1ee614f93d30b334e4300f337e2af8e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt_mpc</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a9a588e75ad9964056f21b4f1e7b5a7fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a98063e261ae303ae4038c9cb69d60256</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>fMax</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a4d56c0b14d842b46446d4b84e4570324</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a09a0f75408c6cba7e0f8ff412f73a910</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>foot_scaling</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a5f204728ae8c4068bf88906704ad6d9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_step_0</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a52b9b92bb448c1b0b58f3e224da94efd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>g</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ad2de0a18833da6fe8aade1a456f0fd0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>gain_vector</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a79b68904c7c1894b2f7e9f6c170ddffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>gamma</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ad0ae14e66cce6dbfa044661ee19e3f35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>h</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a5a4fde97c3847c56ab4923c2fbf6236d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_am</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>aa44e7e377195c575b806f6937fab1a86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a69eacd115013f00be3bb172a5a6ea96d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af5b64db19dc276b1118d3be5f6afb37b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a363d38bbb0f04cc8fd62563ca5935c43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a37658f2b7ed5973cf2fc1519bc075d91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af34d8029fa3f3b800d046604758de75e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>aae5827db8f151cb9361c2d6b9522ab84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a0ddae6ed84375946b872bcd38bcfe5bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a0acd98612190983f20f3afaba49432b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a2783c29d46a26950ba7b8de473e37e30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ab005b4861f259d1b9720953dc435554b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a90e802d110cefb2e6364122803b971cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af8d42c044500a3311ad201be71c7dbdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a03b65560a2cde70e3860c91156eb6d07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af10f9f6323ef125e3889bfb90541b080</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_steps</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ac8d8ab181ac89ed5727071182e273ea5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a31a6e0194f7a3bb33078b34d8d1da3c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a6e63350ad47500efc1636f82da63a816</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a54d08449589f480a412d2d123004d767</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a23d255df151aa4a35d4030010b3f6e71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a643152ea2d42778af8dc252c0bf57542</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>acd21ca17f54e6da58c1d488f9c258c90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_height</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a1971ec4158964ce7651f7d156ff08aaa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_length</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af5c46b36030ca4a49b115c3f5ca18d9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a01e868f07388c812d381d40a80cccc08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_post</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a8e0b31093614edc3ba64c5bafcf1d335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_pre</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af5118a82328bdb2f043f7a402c8da061</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_step</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ac43d2afd6a87992b9908d5492273e236</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>abe6cefb31902ad6fe98250d304a03cca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ad1db23daecb381f6c62db49e91cc6ed1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>afbbfb81491cf082bf6d7a34a089dc55c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a669b870ffd51bc1838107213600cdd17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_am</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a18045dcf1e349ece17e690bc12f9f0ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a9cdca7fdb4f07b5208d2226321b8141f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_contact</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a68b5e7b2b0d0924133d43b1a4aa748f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_cop</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a38474174593c7f1952c8371e18d1fc08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a175feed475c5be683c287fcd483cbb10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a0197919a66477609cfb3187a3c868c09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>aeda6f55099a6c676504147b42933958c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ae7e5e974d9a35a4f71e7c5ae95313b44</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>abd6752ac3f0e4ff9f8e9d5f5e7bc0a61</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_4_LIPM_to_TSID.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__4__LIPM__to__TSID_8py</filename>
    <namespace>ex_4_LIPM_to_TSID</namespace>
    <member kind="variable">
      <type></type>
      <name>com</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a2ab6218e53ed68ffd81e5dd047389e87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_x</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a5e89fa76bd5a756faaf490ec6a2406be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_y</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ad3017ac8c9993ef82be9ffca8ef6ba73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_phase</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a68ee7d5ea809d284bd70517707530997</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ad2cd2055ab58b69d896e99959f205930</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a8b4c6c0b8d844985f4300315abd2089f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_x</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a09c324ea39ea38677bdf5b485a38860c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_y</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a4da553ed2b4b04d6c885983fa6ad6947</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a24f6b02e693fe9041ed53a6fde09aa13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dcom</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a69f2134a7698ac4ec10dd1f4f85b69c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddcom</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a66a82a6b1bc83a428caa6d937359625d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ab23bfe25530645d122f9713f3d0aaabe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a8d713ff5cbe0d9f7a479d9b75251410d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dt_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ae33257aacf9f60f1cd1127cee74d0152</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a640afb94faf625cc8b5bbf9405f4888e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ad141ad5121ea3aff30d785c9c26e63db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_length</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a1b8d093fd023cd19006a94f641ae3ff6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>aef70f0ccb8d17311ce37e5884ee2bf64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>addadcddf894b03325366e69091fcfc51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a4efc4262b1ec2e1a61af6b443f44c3bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a0059012f6bebe1a53d42c1edf7a6c5c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_width</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a5fd3333ec693d9714063a350b868a09e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a8555f5263e75c73444b23d4d859f17dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>markersize</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a32615e888a637993c9ca8618bc87cdc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a2d6f9f97ea3dab3dc5bd458d97d8f091</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ae8a2ab93b316154057161e08f840e626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a705dd12c1494082eced0a98bc15cc7a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a85f5677bcb964725d6cbb918e470146d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a7515c3bc4519bbbef2d2904af8700892</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>aece6291d789b8d634a9ac143976c9c66</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_4_long_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__4__long__conf_8py</filename>
    <namespace>ex_4_long_conf</namespace>
    <member kind="variable">
      <type>int</type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a71be24e3cd8f29065e24ca1231b75b10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>beta</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aa745e2f4d62d2ce3311bead4fc118289</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ac19f9b77aee147c8015a76a9d2f142a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a71f91eea32c7fa324cee5e2982de222a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_LIPM</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad610a571fa4290cf55bcfa8e81af7ac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_TSID</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ac476e46105569a7d0e7ace5b402aa137</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8547b0ac6b734260c4c21b6ccde536d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a0c889496b8fa6f1a6480a5255f8afbfb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt_mpc</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>afba82591a03cdf4f95f878db051a868a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad78d26f242d080c158eb7041d9cdba6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>acd00d3ca5b5b80c5722d049c49ffaf37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aa0fa78c9c18efd97b13e59e52a42873d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_step_0</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aac7585aff73ecd83612937e708b160bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>g</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8b906bbbaffce2af341862fd4a02ac3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>gamma</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ae4d92b8bb2cfbdd23414e3aeb5f63f37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>h</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a608db6af75b7e0bbbbc9b0b170d2261f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a7b64e316c1fe3b2b79ee35edc7748b19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a1c52420f0664a57ce57854b98b130359</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a9e5a1a36d11a947075d5175815c0d761</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a1533e0bee90b5266df5a1bec66bc3dab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8f82f26f75eb3adda027e3af650c9917</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a31bc7c426c252b3e1636519c6b62bdbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aefd9722056d9c08d40359967d81650b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ab9462f3561e5fd357d6034ddadbfc1e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad8fe60e02bcf04c2c3b7d413efe60522</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a03e5b6561dc6d528362219a6feab570f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>afe4ca34c8dcb970a4766017b6c5fdbc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a3c19bc9ae473b36990d976a94209e548</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a95f8cec795ddf49bedac9aa1d30f17c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_steps</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a1ae2b4e3541bb46dd784deabed9a3b70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a93a9d148eec52ea41364d569e3adf04c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a4f2be40af0d0b8b72de4772c387fe9c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>af3eec3cf464308e1e7264cf558451ee4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ae8bfd67862f37aee5d6e34f16b3c3c62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ac432d79ec289f3fb438e989435dab579</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_height</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a922af559e24d2e933a62d0232541eb08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_length</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a2a2c64810ae5f085ae647318e2c979f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>acd0d3f94cc41f9454ec841505973ea41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_post</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a5d3537e574ca71c82dc6339662b60e93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_pre</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a71179fe91676df62ddaf2595ae64920b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_step</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a101107371513080c826385eb409ea630</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8e8eda5a6bdc5344038b74bf337689e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a795855276320e32871ff80b9bfd8a920</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a9c5d3a014340ec4f15a658475b70df82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aa7a5568b2be2a9844633317ff5b2ac9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a330979ee8ec33919b92f1cc8357882f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aae59052acd9df282ef9e4add86872dbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad9f030cd6642ca26140af3e71a7753be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a652fffc97f71f904de67c61cc3262d84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a53b97c620b7653fc6275a62ba5b9fed6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_4_plan_LIPM_romeo.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__4__plan__LIPM__romeo_8py</filename>
    <namespace>ex_4_plan_LIPM_romeo</namespace>
    <member kind="variable">
      <type></type>
      <name>A</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a164bd89dd54ff161b5963902452bf0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a8a9f1dab57bfffe2512bccf8ccdb3b12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_x</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>aa0c8989b23b38de1fe71b056dbcaac5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_y</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a4f3e9c487cb4a83fba4cef0c242a9d98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>acdb1af346896329f2524de00ccc3c62a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_x</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a6830e7e97683cb5cf30ddd2e2a39a863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_y</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a803e98a7e8f3e7349fefefb3d098e3c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_length</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a9271546080894aa891e526838ab1a403</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a94f6a18b607d45df7a135b295fd65d39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_width</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a234e4c459fbc5f9859401446773447ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_admissible_cop</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a24a6ddb461a85a86602deacc8d8c19a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_admissible_CoP</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a55684958677567416613b74c13922439</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a8966282a33fcdecf19148d9b7ad7458b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nb_dt_per_step</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a355d3e44c1f015759cc04711faaf5cb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_terminal_constraints</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a3e6c79ba6c3f1388c51d697ecaf940d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>step_width</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>aea705d05afafb5d0c222d679244a48d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>terminal_index</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>ad236593fbbaa00f71132451c6546908c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a75fedc4f9eb51e91c00f8684961366e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>acd4b9cdb3556218bbddd146934f11f1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_0</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a617a112c5d0edcd3a12164106e46b792</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_terminal</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a5753274f7f3fb924361a8d65598a259b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_0</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a6e94ea29eb22f4eb73b33dc3c78b559f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_terminal</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a4b5ac5db6fec2384b79aff9e0c223521</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_4_talos_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__4__talos__conf_8py</filename>
    <namespace>ex_4_talos_conf</namespace>
    <member kind="variable">
      <type>int</type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ab3c85c0f5b816018174a6fe5411d4e2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>beta</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2379f68a4a99f54c4750c9deb94a77cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7eefce32ee0165f678b4b482993c3bae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a8d3658675a81ba7295ea7b45afb89a5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_LIPM</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a0d6781f90e25db92b736f52a4541d241</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_TSID</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a9195496eff5e7b682be534ffb3170ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ad2c271cc06c5484bec6f16c56e2ebe33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a0e2841a3fb58396ba3e75784d4a03b18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt_mpc</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a5a8448a832ba12011fa77f5b7a3e81f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a058583cb25cd61b9d64a3199c113f61f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>fMax</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a8de6ff0576074fa54d85bb1658d04802</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>af8966126452dbb06e4cdcf36a24704fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>foot_scaling</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a29913ecc795f4c17d0e0e65e12488f09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_step_0</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ac8d4d4c80838c0d175b19a1ef18ed603</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>g</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a715fb233402355be916308b1426a78ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gain_vector</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a35ae6b090c6b97523a86a601badd8900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>gamma</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a05cf3ada2333a67c4d3f8ede9349fa50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>h</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a4eb669d2a8eafb3f4a41b9a7023c2e5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ac0d0454be6e5d55d6e983dbb9d5969f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7ba269ec8a7b0a916ba82ff283f63363</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2f3c7e37a591107994b10ad5c8be2776</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>adcd3a154d0456ffe7adb26cc0c2c3111</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>acbb63378da29e4b613683880ea03f9cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a4683e03c37fdc1d85126ca78ed063d3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a01204d3aa79744a1cb5e9a9833d7d835</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a60e66ed974051ed0c584bc1a7e3cfffc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ae99df9828788d59a789fe13aeb2a1a8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a913a984a9a8452b728dc3716b5d54800</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>af5b0f741d8236000b04ac1933f7bbdcc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a74accb76f438acb5e3ab0efcbb19cb0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a25b6541f54eab29e1b92018e8de86dc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>modelPath</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a773e15bcb7bfb3d174680f280b412aba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>aef7cbc59a30e7e8765fc8ba2457dafeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_steps</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7cd7ab6dfc05d031aaeb4797cbe899b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ad9b59c76a527edccbbb4e9790a19feea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ae51cdce8c5b81a4c89d91c8d04948a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ae5d4a68912b9aeaa3ed9de149b36df19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a3382f08adabd56cd50a6c328de67fe09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a9f9b2ef9cb9a69d56071246f0c2070a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a81e99b88ae1e43ac4ad440e2e1301931</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_height</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2f1570f0b26dbe0a18c29de0be59d4f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_length</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>aeefb79b3c18924cf9559416eebdf20b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ada8887e34c7726bacc0859b4bc1e492a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_post</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a43be73e9c57111613cccd2d3ccedd4aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_pre</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a0ee68833f95c896a11f50293df6c6271</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_step</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a31de39007c2907f54daaa73f5b4ac815</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ab39e186ca0fca0976579668cedfee2e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a46cd3dcadb8b8fcb0ccfd6b75a7d207e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a44a95336974203dc21cf3735ec4ffe59</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ab5c68f0da2ad146a0581935127477340</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a29df82193e373ba73c7f539b04a4af26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_contact</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7f3bbf7441341bb154b96a8b33bccffc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a1df58099fabab01553d4802b99c6728c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a81bc01cd0e9f2275f64cdfa70657176b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2c500dba56eb35d495c9bdd355cff699</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a615c08c07f8cd7d4bd3eb005f387fd54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a33388c9dc4c74553bbe04db92c208b40</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ex_4_walking.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ex__4__walking_8py</filename>
    <namespace>ex_4_walking</namespace>
    <member kind="variable">
      <type></type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a843c5944ea84e847c45935f759081ba4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ab3ef1455d8b25348cbae41de13d5b3ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>c</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a78ef64e74a0a2872d9ca7859821ffa50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa5525c7a8c89cdabb57e0911a3dcab73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>com_acc_des</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>acc7ec4c287a70ccd416488cd5aed2124</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6ccb37a2d8e5a8878419639dc8d9b884</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a44e22135c5258eb92ddb333af2b09b4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae72a580966b3d0ffe2df395377992045</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a34093fd2cdae31bf60c94d3e5bc1ca25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a5e2432b36bb0cdfd287d853cc786fc3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_phase</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a851fbe322379af8eb4c894b8f8516b29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a4b3b181c4a2dab2fe66e0e278bc32810</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aff70412fca3470198ea4250df6513863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a0d7be57c9287b8a21dbe57d3c155a300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae34615eabe00ffe38ae4e388f0b41c60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aaaeb43b6ff6ba8f7738f9031641d3be4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_des</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a73a4a2b3f17b42051ef43744b10c72a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>abf1a1efa15b2535ee510e94338e38e06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a1270c27cf2991d9e0d6f0e3897bc0f2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_des</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a7561564d8db7b64961a670911c163f9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a17dba4b1052953913d60db4acf9a01d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ac6d9f5cfc482fb14cc1c6c411537c7c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a1c9fed354b9d3b159876342f62322639</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a846a8992cd53a568bea9eca3e55df9a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa10a6f08092077165c1417a377cf3206</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ab4eedaf2bc335d4867a884538c038d09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>abde2a92564bb6c5a7606f7b0b6c51f0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a08e9f39ef19d563921331f754c0f1a72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a242a75d3741f8308238e973011a7989a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a86a6148e66109150ff2d4c3af8713029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>afcdc0e47b2b912bd03ed5e5c1334d2e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a28e3ed64badee7a0948339829e3087df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6823f0cc95c9ad66e78818f60c9fd526</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_post</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a125e15c87b8fa03cf896aa49aa083ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_pre</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a2dc525982887e792aa3b724261d71ffb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6399c57672b09e05f62fd7707822baa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COM</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a832b6336ebc00a4bcfda5a5dc2cc1f7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COP</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a58b078cba73a0ee17aa6924795b02b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_FOOT_TRAJ</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a0830af3cbeaf7766d2ed538940023734</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a1d65b7707e292a9292c925e02e6b440a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a88fdeda800a0d9d20b0ae2ab1e8143c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a8c4b080998628be838b4ab3860953c64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>q_list</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aff1044c679db6ecbbb6f63e1910a0348</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_log</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a3cbee6e804c285a7a7341ca1f9cb489f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>qp_data_list</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>afeef06536a0779de4b0533d495cead57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>replay</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a682667f167ac112b30a9da5e74081477</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae32a16f1e6a91a81d85cf62fd59b5302</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa950d5068dba7d895995de6f7de454c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>t</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ad07bbc48455b4c31a5b2fc2d1345f53f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a836863d68e7803eb62ac3978f66362f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a94e17284f3463f0b7ef49e8ae4bcb7a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a0e80a9f60d602a70a709177704a61fa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>tau_normalized</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6157e7c782e6973993c7b820b5839f97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a15a8e96672c0edc1c581ddcb32b37d4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ac7c27732ce9f829c507fa0491aff174e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a64ec45febedf63e3161809cc4d7c094e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid_biped</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa08c61a919e937ba1d78879655f6d863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_EIQUADPROG</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>afb5c182c6bda602b6aaf49ec51ea286f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_OSQP</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ac2f5bd1844687217bdca08e844488e71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_PROXQP</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa39271da1deb5bf4fdd84b155500a5ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a9f348940a521fa869815f42462f4922a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_log</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a2da74a3b478216990fc428810f27d852</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>v_normalized</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a5a69dfda48ba4b7e8260ded16b35f43b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>VERBOSE</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a446c27ad4e059c6c63b429f3add7febe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a635f747676a38daaf1217b17ad368892</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa092c7ca12bae69ee3a7acc7f9451084</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae1871ce15d656c829702350c2079be39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_rf</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a7640ce4f295e61cf5fa9543ba7f102fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ada25676d94ffe07d6b5da3a8402a2535</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-constraints.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/constraint/</path>
    <filename>expose-constraints_8hpp</filename>
    <includes id="bindings_2python_2constraint_2constraint-bound_8hpp" name="bindings/python/constraint/constraint-bound.hpp" local="yes" imported="no">tsid/bindings/python/constraint/constraint-bound.hpp</includes>
    <includes id="bindings_2python_2constraint_2constraint-equality_8hpp" name="bindings/python/constraint/constraint-equality.hpp" local="yes" imported="no">tsid/bindings/python/constraint/constraint-equality.hpp</includes>
    <includes id="bindings_2python_2constraint_2constraint-inequality_8hpp" name="bindings/python/constraint/constraint-inequality.hpp" local="yes" imported="no">tsid/bindings/python/constraint/constraint-inequality.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintBound</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a202bf4ab3bb395da0e1f7965ff1b65b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a5c6e562479ae4770a0e9e376a27a183b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintInequality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a8104d0a247620a080e639dce70134406</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraints</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab7ce2a93e9a7db053c624bc54b2b08f8</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-contact.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/contacts/</path>
    <filename>expose-contact_8hpp</filename>
    <includes id="bindings_2python_2contacts_2contact-6d_8hpp" name="bindings/python/contacts/contact-6d.hpp" local="yes" imported="no">tsid/bindings/python/contacts/contact-6d.hpp</includes>
    <includes id="bindings_2python_2contacts_2contact-point_8hpp" name="bindings/python/contacts/contact-point.hpp" local="yes" imported="no">tsid/bindings/python/contacts/contact-point.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeContact</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a5eefeeb26e24de0dbd101ff7328bf7d1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeContact6d</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a02fe27465c6476659346d23d26635e72</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeContactPoint</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4436afe247df70e6e5587af512636c1d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-formulations.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/formulations/</path>
    <filename>expose-formulations_8hpp</filename>
    <includes id="formulation_8hpp" name="formulation.hpp" local="yes" imported="no">tsid/bindings/python/formulations/formulation.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeFormulations</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4e3a5409bcdf4aec3384c71d8967a4bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeInverseDynamicsFormulationAccForce</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a7b98f2510bc6582da745b8347a49f301</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-robots.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/robots/</path>
    <filename>expose-robots_8hpp</filename>
    <includes id="bindings_2python_2robots_2robot-wrapper_8hpp" name="bindings/python/robots/robot-wrapper.hpp" local="yes" imported="no">tsid/bindings/python/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeRobots</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af34f5bd01b7b36e0cfa808d2e22f0f5e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRobotWrapper</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a90256f3d771c7a68c77e734cb7fbf4c4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-solvers.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/solvers/</path>
    <filename>expose-solvers_8hpp</filename>
    <includes id="bindings_2python_2solvers_2solver-HQP-eiquadprog_8hpp" name="bindings/python/solvers/solver-HQP-eiquadprog.hpp" local="yes" imported="no">tsid/bindings/python/solvers/solver-HQP-eiquadprog.hpp</includes>
    <includes id="HQPData_8hpp" name="HQPData.hpp" local="yes" imported="no">tsid/bindings/python/solvers/HQPData.hpp</includes>
    <includes id="HQPOutput_8hpp" name="HQPOutput.hpp" local="yes" imported="no">tsid/bindings/python/solvers/HQPOutput.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintLevel</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a200e2aef16c07998030ee8d4a39225b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeHQPData</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ad155bb574b5a63fff865907bb4a6b527</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeHQPOutput</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4f2735ff5649826ae7c1ff5bc295002b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverHQuadProg</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af5c1790d9c5e03ccf6b9d137f92fc75f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverOSQP</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa5dd96600ae210f91957dc10228cecee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverProxQP</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a0867bae02af8e0f280dd543f5598f080</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolvers</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a8335d3dde5b410e37b76fca58ca96969</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-tasks.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>expose-tasks_8hpp</filename>
    <includes id="bindings_2python_2tasks_2task-com-equality_8hpp" name="bindings/python/tasks/task-com-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-com-equality.hpp</includes>
    <includes id="bindings_2python_2tasks_2task-cop-equality_8hpp" name="bindings/python/tasks/task-cop-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-cop-equality.hpp</includes>
    <includes id="bindings_2python_2tasks_2task-se3-equality_8hpp" name="bindings/python/tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-se3-equality.hpp</includes>
    <includes id="bindings_2python_2tasks_2task-joint-posture_8hpp" name="bindings/python/tasks/task-joint-posture.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-joint-posture.hpp</includes>
    <includes id="bindings_2python_2tasks_2task-actuation-bounds_8hpp" name="bindings/python/tasks/task-actuation-bounds.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-actuation-bounds.hpp</includes>
    <includes id="bindings_2python_2tasks_2task-joint-bounds_8hpp" name="bindings/python/tasks/task-joint-bounds.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-joint-bounds.hpp</includes>
    <includes id="bindings_2python_2tasks_2task-joint-posVelAcc-bounds_8hpp" name="bindings/python/tasks/task-joint-posVelAcc-bounds.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-joint-posVelAcc-bounds.hpp</includes>
    <includes id="task-am-equality_8hpp" name="task-am-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-am-equality.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskActuationBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a10970f19c507aae2531a76dff77df4e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskAMEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aba2a9bff8d8145bf018f227ac29e2068</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskComEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab0e24fca883e5fe1c248c83ba4ba350b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskCopEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>acaca7b670e779d3d098ef66465d1a950</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae4a48970305d98905ef27e92f4d7da29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointPosture</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ac3ae1f2a84e721b6e3f14697a544a26e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointPosVelAccBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae6976f89be90c75de7baf3f155a5e875</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTasks</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae503a1d09f684954f315e5ef4ded2bd3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskSE3Equality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a74df4dc480213996aed0b4d2e9dbfc4f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>expose-trajectories.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/trajectories/</path>
    <filename>expose-trajectories_8hpp</filename>
    <includes id="bindings_2python_2trajectories_2trajectory-se3_8hpp" name="bindings/python/trajectories/trajectory-se3.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/trajectory-se3.hpp</includes>
    <includes id="bindings_2python_2trajectories_2trajectory-euclidian_8hpp" name="bindings/python/trajectories/trajectory-euclidian.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/trajectory-euclidian.hpp</includes>
    <includes id="bindings_2python_2trajectories_2trajectory-base_8hpp" name="bindings/python/trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/trajectory-base.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectories</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a986ac4d193db79c830943c8694a250e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectoryEuclidianConstant</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a1aff4f2d3f1ff8cfd2caef833d64d3ff</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectorySample</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a321faceb9cbbb744188436319994cc1a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectorySE3Constant</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aafabc66d1aa78f3d50dbb92c2038f0c0</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>formulation.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/formulations/</path>
    <filename>formulation_8cpp</filename>
    <includes id="expose-formulations_8hpp" name="expose-formulations.hpp" local="yes" imported="no">tsid/bindings/python/formulations/expose-formulations.hpp</includes>
    <includes id="formulation_8hpp" name="formulation.hpp" local="yes" imported="no">tsid/bindings/python/formulations/formulation.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeInverseDynamicsFormulationAccForce</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a7b98f2510bc6582da745b8347a49f301</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>formulation.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/formulations/</path>
    <filename>formulation_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="inverse-dynamics-formulation-acc-force_8hpp" name="inverse-dynamics-formulation-acc-force.hpp" local="yes" imported="no">tsid/formulations/inverse-dynamics-formulation-acc-force.hpp</includes>
    <includes id="HQPData_8hpp" name="HQPData.hpp" local="yes" imported="no">tsid/bindings/python/solvers/HQPData.hpp</includes>
    <includes id="contacts_2contact-6d_8hpp" name="contacts/contact-6d.hpp" local="yes" imported="no">tsid/contacts/contact-6d.hpp</includes>
    <includes id="contacts_2contact-point_8hpp" name="contacts/contact-point.hpp" local="yes" imported="no">tsid/contacts/contact-point.hpp</includes>
    <includes id="tasks_2task-joint-posture_8hpp" name="tasks/task-joint-posture.hpp" local="yes" imported="no">tsid/tasks/task-joint-posture.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="tasks_2task-com-equality_8hpp" name="tasks/task-com-equality.hpp" local="yes" imported="no">tsid/tasks/task-com-equality.hpp</includes>
    <includes id="tasks_2task-cop-equality_8hpp" name="tasks/task-cop-equality.hpp" local="yes" imported="no">tsid/tasks/task-cop-equality.hpp</includes>
    <includes id="tasks_2task-actuation-bounds_8hpp" name="tasks/task-actuation-bounds.hpp" local="yes" imported="no">tsid/tasks/task-actuation-bounds.hpp</includes>
    <includes id="tasks_2task-joint-bounds_8hpp" name="tasks/task-joint-bounds.hpp" local="yes" imported="no">tsid/tasks/task-joint-bounds.hpp</includes>
    <includes id="tasks_2task-joint-posVelAcc-bounds_8hpp" name="tasks/task-joint-posVelAcc-bounds.hpp" local="yes" imported="no">tsid/tasks/task-joint-posVelAcc-bounds.hpp</includes>
    <includes id="task-angular-momentum-equality_8hpp" name="task-angular-momentum-equality.hpp" local="yes" imported="no">tsid/tasks/task-angular-momentum-equality.hpp</includes>
    <class kind="struct">tsid::python::InvDynPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/</path>
    <filename>bindings_2python_2fwd_8hpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>BOOST_BIND_GLOBAL_PLACEHOLDERS</name>
      <anchorfile>bindings_2python_2fwd_8hpp.html</anchorfile>
      <anchor>ae32d133147b9dd7a9b1bfe370a71b72e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>contacts/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>contacts_2fwd_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>math/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/math/</path>
    <filename>math_2fwd_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
    <member kind="define">
      <type>#define</type>
      <name>EIGEN_MALLOC_ALLOWED</name>
      <anchorfile>math_2fwd_8hpp.html</anchorfile>
      <anchor>a5e50cc9e2c7680344bab000d41955622</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>EIGEN_MALLOC_NOT_ALLOWED</name>
      <anchorfile>math_2fwd_8hpp.html</anchorfile>
      <anchor>adc41f378af0b9eb63d4f768b6c27d632</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Eigen::Ref&lt; const Matrix &gt;</type>
      <name>ConstRefMatrix</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a76cd3455f7c1395067a48320e6e66b89</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Eigen::Ref&lt; const Vector &gt;</type>
      <name>ConstRefVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7ca0004ef0478a915ac9e8cb4d310f14</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Eigen::Ref&lt; const Vector3 &gt;</type>
      <name>ConstRefVector3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7b5695e47ef482a62df80f0498f3fca9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::size_t</type>
      <name>Index</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a296f41bf58a6f8ec4495f7e667e6280e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ae3b456441c2a3f90a6576810a34fab3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, Eigen::Dynamic &gt;</type>
      <name>Matrix3x</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a37a8cb8d7d85d5664de5b28a0f932e75</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Matrix &gt;</type>
      <name>RefMatrix</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a0b55d87880e05666d91e040ffc8986ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Vector &gt;</type>
      <name>RefVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac6ee364255c3f0caa04f30716ee26570</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Vector3 &gt;</type>
      <name>RefVector3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>af524ec50e2d10fe9260591981beb57e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>Scalar</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac15a4c4183921b76c05fc9d86b9b7476</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ab1987c09967934b39516ee83b9df3bc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1 &gt;</type>
      <name>Vector3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a4b8045eb6371f16c1b70c7e8caf46c26</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1 &gt;</type>
      <name>Vector6</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7555bdeabc3753ba3044879bd81fefdf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; bool, Eigen::Dynamic, 1 &gt;</type>
      <name>VectorXb</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>afb36ea63a4556ae7143b14575cd434ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a8c8a1af084b38ae496a103ced75da260</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>robots/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/robots/</path>
    <filename>robots_2fwd_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::robots</namespace>
  </compound>
  <compound kind="file">
    <name>solvers/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solvers_2fwd_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="solver-qpData_8hpp" name="solver-qpData.hpp" local="yes" imported="no">tsid/solvers/solver-qpData.hpp</includes>
    <class kind="class">tsid::solvers::aligned_pair</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
    <member kind="define">
      <type>#define</type>
      <name>DEFAULT_HESSIAN_REGULARIZATION</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>a5b2eb94090d530fe223f2da7d714bb23</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; aligned_pair&lt; double, std::shared_ptr&lt; const math::ConstraintBase &gt; &gt; &gt;</type>
      <name>ConstConstraintLevel</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a47580eeca9ab87f428997d41236b3da6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; ConstConstraintLevel &gt;</type>
      <name>ConstHQPData</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a7df68b12559b406b31862cba31d47f01</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; aligned_pair&lt; double, std::shared_ptr&lt; math::ConstraintBase &gt; &gt; &gt;</type>
      <name>ConstraintLevel</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>af2b094a1e6c8207df2f334b397d622ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; ConstraintLevel &gt;</type>
      <name>HQPData</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a5c340fe942a9a5965a4c7b77d003f7e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>QPDataTpl&lt; double &gt;</type>
      <name>QPData</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a166511825dd2c5e775b3520e26399cf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>QPDataBaseTpl&lt; double &gt;</type>
      <name>QPDataBase</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a2dfe7604b6ad3d71e9fc471ed69b4e5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>QPDataQuadProgTpl&lt; double &gt;</type>
      <name>QPDataQuadProg</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a0bae8bb83e540169e10a8725984f5d26</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>aligned_pair&lt; T1, T2 &gt;</type>
      <name>make_pair</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>acdc4d493f78ace08fccd5d70ba892f57</anchor>
      <arglist>(const T1 &amp;t1, const T2 &amp;t2)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQP_STATUS_INFEASIBLE</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>ae8f3782413a1521729a2118ec40c4961</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQP_STATUS_MAX_ITER_REACHED</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>a654781184c21751a5c86be125f0a16c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQP_STATUS_OPTIMAL</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>ae3cf0c8722cafbf3d26180fbf1440571</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQP_STATUS_UNBOUNDED</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>a0dc61901100ba29bb24bd4e1e5694724</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQP_STATUS_UNKNOWN</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>a1beded5024e6fcafc3e58be2e91228e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>SOLVER_HQP_EIQUADPROG</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>a8c347588d4029be575ef962b675272d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>SOLVER_HQP_EIQUADPROG_FAST</name>
      <anchorfile>solvers_2fwd_8hpp.html</anchorfile>
      <anchor>abbfc8d3c5ee497a6a6848759b2fc1039</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>class TSID_DLLAPI</type>
      <name>SolverHQPBase</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a50c1d888f9fe8e56de8aba2abc5d4f15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>class TSID_DLLAPI</type>
      <name>SolverHQuadProgRT</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a308a11789ce224c0f36356de714b9f8e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>tasks/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2fwd_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>trajectories/fwd.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/trajectories/</path>
    <filename>trajectories_2fwd_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::trajectories</namespace>
  </compound>
  <compound kind="file">
    <name>generator.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>generator_8py</filename>
    <namespace>generator</namespace>
    <member kind="function">
      <type>def</type>
      <name>create_7dof_arm</name>
      <anchorfile>namespacegenerator.html</anchorfile>
      <anchor>a31d0755cba2688a097881cee2dc951c3</anchor>
      <arglist>(revoluteOnly=False)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>git-archive-all.py</name>
    <path>/tmp/ws/src/tsid/cmake/</path>
    <filename>git-archive-all_8py</filename>
    <namespace>git-archive-all</namespace>
    <member kind="variable" protection="private">
      <type>string</type>
      <name>__version__</name>
      <anchorfile>namespacegit-archive-all.html</anchorfile>
      <anchor>adffa1c135f4c9da96a0d96e9f0a7a578</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>hqp_solvers.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>hqp__solvers_8cpp</filename>
    <includes id="solvers_2solver-HQP-eiquadprog_8hpp" name="solvers/solver-HQP-eiquadprog.hpp" local="no" imported="no">tsid/solvers/solver-HQP-eiquadprog.hpp</includes>
    <includes id="solver-HQP-eiquadprog-rt_8hpp" name="solver-HQP-eiquadprog-rt.hpp" local="no" imported="no">tsid/solvers/solver-HQP-eiquadprog-rt.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="no" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="no" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="no" imported="no">tsid/math/constraint-bound.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="no" imported="no">tsid/utils/stop-watch.hpp</includes>
    <includes id="statistics_8hpp" name="statistics.hpp" local="no" imported="no">tsid/utils/statistics.hpp</includes>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_LESS_THAN</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a16e24af0e12a1ff14f853effd1f0ce33</anchor>
      <arglist>(A, B)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_EIQUADPROG</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a287ddcc48150a7de0fe463d4a3fbc2ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_EIQUADPROG_FAST</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a57dc2fec96d6facb252a8980d15473b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_EIQUADPROG_RT</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>abacee0adb3e09670263e18587cb3889f</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_OSQP</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a7a319fb6005e487e653604c04f3acc30</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_PROXQP</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a743f65c8b35f267e11c3e771583154e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_QPMAD</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a6d88925a16c08b5ba9af7ce3960c39a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>REQUIRE_FINITE</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>acf09914116cb7635f2bb156d5e2f067f</anchor>
      <arglist>(A)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>hqp__solvers_8cpp.html</anchorfile>
      <anchor>a0ccaf0eaa6eaa42145d8bd6cd73cc63e</anchor>
      <arglist>(test_eiquadprog_classic_vs_rt_vs_fast_vs_proxqp)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>HQPData.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/solvers/</path>
    <filename>HQPData_8cpp</filename>
    <includes id="expose-solvers_8hpp" name="expose-solvers.hpp" local="yes" imported="no">tsid/bindings/python/solvers/expose-solvers.hpp</includes>
    <includes id="HQPData_8hpp" name="HQPData.hpp" local="yes" imported="no">tsid/bindings/python/solvers/HQPData.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintLevel</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a200e2aef16c07998030ee8d4a39225b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeHQPData</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ad155bb574b5a63fff865907bb4a6b527</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>HQPData.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/solvers/</path>
    <filename>HQPData_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="container_8hpp" name="container.hpp" local="yes" imported="no">tsid/bindings/python/utils/container.hpp</includes>
    <class kind="struct">tsid::python::ConstPythonVisitor</class>
    <class kind="struct">tsid::python::HQPPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>HQPOutput.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/solvers/</path>
    <filename>HQPOutput_8cpp</filename>
    <includes id="expose-solvers_8hpp" name="expose-solvers.hpp" local="yes" imported="no">tsid/bindings/python/solvers/expose-solvers.hpp</includes>
    <includes id="HQPOutput_8hpp" name="HQPOutput.hpp" local="yes" imported="no">tsid/bindings/python/solvers/HQPOutput.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeHQPOutput</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4f2735ff5649826ae7c1ff5bc295002b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>HQPOutput.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/solvers/</path>
    <filename>HQPOutput_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="solver-HQP-output_8hpp" name="solver-HQP-output.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-output.hpp</includes>
    <class kind="struct">tsid::python::HQPOutputPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>inverse-dynamics-formulation-acc-force.cpp</name>
    <path>/tmp/ws/src/tsid/src/formulations/</path>
    <filename>inverse-dynamics-formulation-acc-force_8cpp</filename>
    <includes id="inverse-dynamics-formulation-acc-force_8hpp" name="inverse-dynamics-formulation-acc-force.hpp" local="yes" imported="no">tsid/formulations/inverse-dynamics-formulation-acc-force.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="yes" imported="no">tsid/math/constraint-bound.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>inverse-dynamics-formulation-acc-force_8cpp.html</anchorfile>
      <anchor>ab58c80900019519c2596b813a1cbf4ab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse-dynamics-formulation-acc-force.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/formulations/</path>
    <filename>inverse-dynamics-formulation-acc-force_8hpp</filename>
    <includes id="contact-level_8hpp" name="contact-level.hpp" local="yes" imported="no">tsid/formulations/contact-level.hpp</includes>
    <includes id="inverse-dynamics-formulation-base_8hpp" name="inverse-dynamics-formulation-base.hpp" local="yes" imported="no">tsid/formulations/inverse-dynamics-formulation-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::ContactTransitionInfo</class>
    <class kind="class">tsid::InverseDynamicsFormulationAccForce</class>
    <namespace>tsid</namespace>
  </compound>
  <compound kind="file">
    <name>inverse-dynamics-formulation-base.cpp</name>
    <path>/tmp/ws/src/tsid/src/formulations/</path>
    <filename>inverse-dynamics-formulation-base_8cpp</filename>
    <includes id="inverse-dynamics-formulation-base_8hpp" name="inverse-dynamics-formulation-base.hpp" local="yes" imported="no">tsid/formulations/inverse-dynamics-formulation-base.hpp</includes>
    <namespace>tsid</namespace>
  </compound>
  <compound kind="file">
    <name>inverse-dynamics-formulation-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/formulations/</path>
    <filename>inverse-dynamics-formulation-base_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="task-actuation_8hpp" name="task-actuation.hpp" local="yes" imported="no">tsid/tasks/task-actuation.hpp</includes>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="yes" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="task-contact-force_8hpp" name="task-contact-force.hpp" local="yes" imported="no">tsid/tasks/task-contact-force.hpp</includes>
    <includes id="contact-base_8hpp" name="contact-base.hpp" local="yes" imported="no">tsid/contacts/contact-base.hpp</includes>
    <includes id="measured-force-base_8hpp" name="measured-force-base.hpp" local="yes" imported="no">tsid/contacts/measured-force-base.hpp</includes>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::InverseDynamicsFormulationBase</class>
    <class kind="struct">tsid::MeasuredForceLevel</class>
    <class kind="struct">tsid::TaskLevel</class>
    <class kind="struct">tsid::TaskLevelForce</class>
    <namespace>tsid</namespace>
  </compound>
  <compound kind="file">
    <name>lib.cc</name>
    <path>/tmp/ws/src/tsid/cmake/_unittests/cpp/src/</path>
    <filename>lib_8cc</filename>
    <member kind="function">
      <type>void</type>
      <name>lib_function</name>
      <anchorfile>lib_8cc.html</anchorfile>
      <anchor>aeda3209e7125aae5dbd02a20a5668105</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>lib.hh</name>
    <path>/tmp/ws/src/tsid/cmake/_unittests/cpp/include/jrl_cmakemodule/</path>
    <filename>lib_8hh</filename>
    <member kind="function">
      <type>void</type>
      <name>lib_function</name>
      <anchorfile>lib_8hh.html</anchorfile>
      <anchor>aeda3209e7125aae5dbd02a20a5668105</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>macros.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/</path>
    <filename>macros_8hpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>TSID_DISABLE_WARNING_DEPRECATED</name>
      <anchorfile>macros_8hpp.html</anchorfile>
      <anchor>ac1e54a73414be9fb95a6b795a1648cf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>TSID_DISABLE_WARNING_POP</name>
      <anchorfile>macros_8hpp.html</anchorfile>
      <anchor>ae551df1ad4459431964a21fc85bbf0c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>TSID_DISABLE_WARNING_PUSH</name>
      <anchorfile>macros_8hpp.html</anchorfile>
      <anchor>a6283ee6431dd3df712db3b778cee3c4d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>main.cc</name>
    <path>/tmp/ws/src/tsid/cmake/_unittests/cpp/src/</path>
    <filename>main_8cc</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>main_8cc.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>math_utils.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>math__utils_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>math__utils_8cpp.html</anchorfile>
      <anchor>a2e1dfc826edac3cf557061993da80dfd</anchor>
      <arglist>(test_pseudoinverse)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>measured-3Dforce.cpp</name>
    <path>/tmp/ws/src/tsid/src/contacts/</path>
    <filename>measured-3Dforce_8cpp</filename>
    <includes id="measured-3Dforce_8hpp" name="measured-3Dforce.hpp" local="yes" imported="no">tsid/contacts/measured-3Dforce.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
    <member kind="typedef">
      <type>pinocchio::Data::Matrix6x</type>
      <name>Matrix6x</name>
      <anchorfile>namespacetsid_1_1contacts.html</anchorfile>
      <anchor>a9fc4a638adf2afe2e43fb5a5b61f8486</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>measured-3Dforce.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>measured-3Dforce_8hpp</filename>
    <includes id="measured-force-base_8hpp" name="measured-force-base.hpp" local="yes" imported="no">tsid/contacts/measured-force-base.hpp</includes>
    <class kind="class">tsid::contacts::Measured3Dforce</class>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>measured-6Dwrench.cpp</name>
    <path>/tmp/ws/src/tsid/src/contacts/</path>
    <filename>measured-6Dwrench_8cpp</filename>
    <includes id="measured-6Dwrench_8hpp" name="measured-6Dwrench.hpp" local="yes" imported="no">tsid/contacts/measured-6Dwrench.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>measured-6Dwrench.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>measured-6Dwrench_8hpp</filename>
    <includes id="measured-force-base_8hpp" name="measured-force-base.hpp" local="yes" imported="no">tsid/contacts/measured-force-base.hpp</includes>
    <class kind="class">tsid::contacts::Measured6Dwrench</class>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>measured-force-base.cpp</name>
    <path>/tmp/ws/src/tsid/src/contacts/</path>
    <filename>measured-force-base_8cpp</filename>
    <includes id="measured-force-base_8hpp" name="measured-force-base.hpp" local="yes" imported="no">tsid/contacts/measured-force-base.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>measured-force-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/contacts/</path>
    <filename>measured-force-base_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="robots_2fwd_8hpp" name="robots/fwd.hpp" local="yes" imported="no">tsid/robots/fwd.hpp</includes>
    <class kind="class">tsid::contacts::MeasuredForceBase</class>
    <namespace>tsid</namespace>
    <namespace>tsid::contacts</namespace>
  </compound>
  <compound kind="file">
    <name>module.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/</path>
    <filename>module_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="expose-robots_8hpp" name="expose-robots.hpp" local="yes" imported="no">tsid/bindings/python/robots/expose-robots.hpp</includes>
    <includes id="expose-constraints_8hpp" name="expose-constraints.hpp" local="yes" imported="no">tsid/bindings/python/constraint/expose-constraints.hpp</includes>
    <includes id="expose-contact_8hpp" name="expose-contact.hpp" local="yes" imported="no">tsid/bindings/python/contacts/expose-contact.hpp</includes>
    <includes id="expose-trajectories_8hpp" name="expose-trajectories.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/expose-trajectories.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <includes id="expose-solvers_8hpp" name="expose-solvers.hpp" local="yes" imported="no">tsid/bindings/python/solvers/expose-solvers.hpp</includes>
    <includes id="expose-formulations_8hpp" name="expose-formulations.hpp" local="yes" imported="no">tsid/bindings/python/formulations/expose-formulations.hpp</includes>
    <includes id="bindings_2python_2math_2utils_8hpp" name="bindings/python/math/utils.hpp" local="yes" imported="no">tsid/bindings/python/math/utils.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_PYTHON_MODULE</name>
      <anchorfile>module_8cpp.html</anchorfile>
      <anchor>a0c0da08998d2bb0cd21cda449fd317ff</anchor>
      <arglist>(tsid_pywrap)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>omniidl_be_python_with_docstring.py</name>
    <path>/tmp/ws/src/tsid/cmake/hpp/idl/</path>
    <filename>omniidl__be__python__with__docstring_8py</filename>
    <namespace>omniidl_be_python_with_docstring</namespace>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_rreplace</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>ab5be471acc7745deccd768d20cac9348</anchor>
      <arglist>(s, old, new, occurrence)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a752645ca365e1b6b5e3976a944e6fc6b</anchor>
      <arglist>(tree, args)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>plot_utils.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>plot__utils_8py</filename>
    <namespace>plot_utils</namespace>
    <member kind="function">
      <type>def</type>
      <name>create_empty_figure</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a09cc7fbe354a1924b3280ecdbf711b9d</anchor>
      <arglist>(nRows=1, nCols=1, figsize=(7, 7), spinesPos=None, sharex=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>grayify_cmap</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a019c803d5f54702f3f4b95d8719ca436</anchor>
      <arglist>(cmap)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>movePlotSpines</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a340a715d3614f6f9b0b1b801fee9ef50</anchor>
      <arglist>(ax, spinesPos)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plot3dQuantity</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a3704c6badfa988256a57a837bf7c38f2</anchor>
      <arglist>(quantity, title, ax=None, boundUp=None, boundLow=None, yscale=&quot;linear&quot;, linestyle=&quot;k&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotNdQuantity</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a19b4661498e68ed0fff256a79dea93a7</anchor>
      <arglist>(nRows, nCols, quantity, title=&quot;&quot;, ax=None, boundUp=None, boundLow=None, yscale=&quot;linear&quot;, linestyle=&quot;k--&quot;, sharey=False, margins=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotNdQuantityPerSolver</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a4a3bf71b885f05ea9408948100ff2bde</anchor>
      <arglist>(nRows, nCols, quantity, title, solver_names, line_styles, ax=None, boundUp=None, boundLow=None, yscale=&quot;linear&quot;, subplot_titles=None, ylabels=None, sharey=False, margins=None, x=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotQuantityPerSolver</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a00f96fdb9cc6423b7e0d41040f084b7a</anchor>
      <arglist>(quantity, title, solver_names, line_styles, yscale=&quot;linear&quot;, ylabel=&quot;&quot;, x=None, xlabel=&quot;&quot;, legend_location=&quot;best&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotQuantityVsQuantityPerSolver</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a88e04b0e2754b54eeeb80518a2a37cd7</anchor>
      <arglist>(quantity, quantityPerSolver, legend, solver_names, line_styles, yscale=&quot;linear&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>saveFigure</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a9459c99859e955e9cd4e99ac197a9da1</anchor>
      <arglist>(title)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setAxisFontSize</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a6c323a1b51f2e9223051a939cac02efe</anchor>
      <arglist>(ax, size)</arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>BOUNDS_COLOR</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ae5e77238724d3ba70c451c87c46dd49a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_AXES_LABEL_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ad207685fc7ae924fbb9b6b14d54bc9af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_AXIS_FONT_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a45f46035124fc68e227748ff3efd2d2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DEFAULT_FIGURE_FACE_COLOR</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a73f106828423f7ad6bbd3bfbfbdc0a98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DEFAULT_FONT_FAMILY</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a16dc9e205a223274f3b91f610b63a385</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>DEFAULT_FONT_SERIF</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ab6ccc208cfd923ae3f6f7d6d76e2bcc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_FONT_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ad0302a8c40525aee0d06b1162e86f7a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_LEGEND_FONT_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>abb84a62f849222f00127944014e467ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_LINE_WIDTH</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>aa87d5ecde77092dafcb6d680f6fd099e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_MARKER_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a6832824a898656d7dc34830cbfc6b5d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>DEFAULT_TEXT_USE_TEX</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a5bb0651e0b8990759de57871eac3b74f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>FIGURE_PATH</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a2b0138a615f8f7bb39eb467a87e7b190</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>FIGURES_DPI</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>af28a3d525541aba8063f875980cc87b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>FILE_EXTENSIONS</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a2247b98b1796de55381d7184c577a693</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LEGEND_ALPHA</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a8ff15f1ca8d4b847a0da521a3aa7657a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LINE_ALPHA</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>adf7dc8bb2fb902e6d58253ab3cba8d89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH_MIN</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a6dd3d064e7e52d6c5181399fc5e10f34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH_RED</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a4f000c8d6f3950c6ab9d5908a29ad0cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>SAVE_FIGURES</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>adaac19e424ef11111d12edd7cf235ea6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>SHOW_FIGURES</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a68bc41ce37e896e48c8c13f7e9bfa707</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>SHOW_LEGENDS</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a345809de035ba03d6d5b6c28479399df</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pyproject.py</name>
    <path>/tmp/ws/src/tsid/cmake/</path>
    <filename>pyproject_8py</filename>
    <namespace>pyproject</namespace>
    <member kind="function">
      <type>def</type>
      <name>update_pyproject_version</name>
      <anchorfile>namespacepyproject.html</anchorfile>
      <anchor>a2313ad7f22fa0f714d7197917c8ca8df</anchor>
      <arglist>(version)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>python.py</name>
    <path>/tmp/ws/src/tsid/cmake/_unittests/python/jrl_cmakemodule/</path>
    <filename>python_8py</filename>
    <namespace>python</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/robots/robot-wrapper.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/robots/</path>
    <filename>bindings_2python_2robots_2robot-wrapper_8cpp</filename>
    <includes id="expose-robots_8hpp" name="expose-robots.hpp" local="yes" imported="no">tsid/bindings/python/robots/expose-robots.hpp</includes>
    <includes id="bindings_2python_2robots_2robot-wrapper_8hpp" name="bindings/python/robots/robot-wrapper.hpp" local="yes" imported="no">tsid/bindings/python/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeRobotWrapper</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a90256f3d771c7a68c77e734cb7fbf4c4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/robots/robot-wrapper.cpp</name>
    <path>/tmp/ws/src/tsid/src/robots/</path>
    <filename>src_2robots_2robot-wrapper_8cpp</filename>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::robots</namespace>
  </compound>
  <compound kind="file">
    <name>tests/robot-wrapper.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>tests_2robot-wrapper_8cpp</filename>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tests_2robot-wrapper_8cpp.html</anchorfile>
      <anchor>a829802958ca216854b6453e9fa1b07cd</anchor>
      <arglist>(test_robot_wrapper)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/robots/robot-wrapper.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/robots/</path>
    <filename>bindings_2python_2robots_2robot-wrapper_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <class kind="struct">tsid::python::RobotPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>robots/robot-wrapper.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/robots/</path>
    <filename>robots_2robot-wrapper_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="robots_2fwd_8hpp" name="robots/fwd.hpp" local="yes" imported="no">tsid/robots/fwd.hpp</includes>
    <class kind="class">tsid::robots::RobotWrapper</class>
    <namespace>tsid</namespace>
    <namespace>tsid::robots</namespace>
  </compound>
  <compound kind="file">
    <name>romeo_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>romeo__conf_8py</filename>
    <namespace>romeo_conf</namespace>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ace459918566a1b4bf387399de46c89cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a8baf52919951dd3830bfc41fba4e05e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa3f65e56335eb2df7423d45a0d166112</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ad55895652bb19cc2fe970e8dc3658249</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a6190659d13b2657700fe84fd281cce85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a4f8dbdee56bf25ae30e1de20dff9e598</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aba5ed99ad9b1845fddd1fba92531b8f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a97216a91fbe2078298ff4b130a7f9c00</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ad3e5a4813c46ba5237780aff7b228f8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>gain_vector</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aea320adc9c8ec49af6161c8b5b61b4a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_am</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a3cea9d44fb6f82e85f03d9c75e54e3a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a8faf9fc8d878a74121c3aa97b5be9327</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a08ecafe4c53d17dcd286680283797474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a296aa7c9752e74cd79e2889d3511c753</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aee129074c889ca5597e886e3bd0acb58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a3d6abbe82423d0af3bfb4b40faf03f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a43c94ff9b593ebeaf18a958527b460b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa6dd80a0a70a93c5f545280c02a59178</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a9e9bcc4cd35201731e3eb262b4bc6a9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>afcf93cd3b3be137fb6c1d758bbae1935</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a76cb8df303ad81858176c2688ec1a231</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>af75b30e96e5d33fed571b143a21eb548</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>af9fba77099cbf7b345a8bbc431840799</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a466c93a84fd02e9481fe4bba79d58f28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ab6e24d7d0a92d484f1371efdc7b70b96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a0fc5a5dbc555ed9ac095889a5f290cec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a7e0e913b60fef425ba951a0004f73d3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aebd898649931a3a08e1eaeb6c1e2be90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a03becadef63f133ebe2b3ed401cbeac5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ab0d399751eb28ef1323a9cf8ce498626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a9d48425c295a40a3f8482422a2c38bc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>acbd1cc9db348f62a24518a62e113975a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ac27879a34810543f228e9a2dd96248b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a4ec8d43cb9001071690d94d6dfb5c091</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a48801287fa9bb7ac7abab03d0a1996dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>afe0adcba99a8e0a86de0c77d9e320463</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a0e3956283e7baf6f12566d9e9e78d771</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aae2f2ffd3cf945224f6dd0cdca1ec6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aaa06ba82f54acf703af56031a8f77a0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>afc294e358a4b51b2e8dea09f4c9368fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a18b37daeebb9eddf393b2b389ae5d7bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a31594f7337ae2544f6900a15f5cf0e3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>adb93cc23eaf5acb030b028113b4d834e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_am</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aec40172ca8acc2035cc227957f44e86d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a9cd95bb3d1ed2f4e6f6162d003e2120b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_contact</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a820e855f05f0aa7b142e5498d249e4f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_cop</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa9eb919c8de43a7e8968a15cbdcd5abd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa8f3cd0b34802fb75de5ef7ff25cfe1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a55d474708fd008b04e4e2597dcfa8ab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a36a25d65fbdb0a28bcf8c498aff49e98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ac1ce738a1f895aaaaea5ce4377f9f8f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a5149961d71f1c28e0b37590510d158a1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>set_gravity.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>set__gravity_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <member kind="typedef">
      <type>pinocchio::Motion</type>
      <name>Motion</name>
      <anchorfile>set__gravity_8cpp.html</anchorfile>
      <anchor>af790f10626cd938e1ae3b87a9a4a0b58</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>set__gravity_8cpp.html</anchorfile>
      <anchor>a5a1b96e7dd99b95e57aeb5cc9df58834</anchor>
      <arglist>(test_set_gravity)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>setup.in.py</name>
    <path>/tmp/ws/src/tsid/cmake/cython/</path>
    <filename>setup_8in_8py</filename>
    <namespace>setup</namespace>
    <member kind="function">
      <type>def</type>
      <name>absolute</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ace87a65d75cbd054ca349e16bf6039b0</anchor>
      <arglist>(src)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef51ce1b22cffd404370dbbcaa8c7d4</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard_cmp</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef80ec10cc729c8690658e5470e0131</anchor>
      <arglist>(lhs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>GenExtension</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a277f5c34eeba057f5efd9d013d762376</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_lib_name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a642803465132c79a163348c6f91c880d</anchor>
      <arglist>(path)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>chunk</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac841690a327d48358d0aa6c3da5b8003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>config</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1ff2a74642e15658e2c46138d2a73f72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a01e02c6fb7f2c66a9fb3daa4025be584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>abab7f7484072aa53119cd89cbae7c862</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ext_modules</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1bf56ea61d1e9865f316116dca2fbfea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>extensions</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a7d6a659c7fd056d592f248c1a98e6f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linux_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a019bf0e760b51815dc0818627ebb4c17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3a7a0638d76a01367c5bc3cc699447f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>package_data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a0a5ccc22976d20d42c6bb6c7651ce0be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>packages</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>aff2375a361fd5865c77bd9aa093be747</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sha512</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>afd75da7bae5803e88a0b20ac410de369</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src_files</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a8b0c506f6c8d68e5064a3bdc042c3b75</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2aa722b36a933088812b50ea79b97a5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version_hash</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1573d7834565996eab83d4d029075c0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>win32_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab1242eec890d42048d0a2d0da8c5ad81</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>solver-HQP-base.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-HQP-base_8cpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-base_8hpp</filename>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="solver-HQP-output_8hpp" name="solver-HQP-output.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-output.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverHQPBase</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-eiquadprog-fast.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-HQP-eiquadprog-fast_8cpp</filename>
    <includes id="solver-HQP-eiquadprog-fast_8hpp" name="solver-HQP-eiquadprog-fast.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-eiquadprog-fast.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="yes" imported="no">tsid/utils/stop-watch.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-eiquadprog-fast.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-eiquadprog-fast_8hpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverHQuadProgFast</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-eiquadprog-rt.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-eiquadprog-rt_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverHQuadProgRT</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/solvers/solver-HQP-eiquadprog.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/solvers/</path>
    <filename>bindings_2python_2solvers_2solver-HQP-eiquadprog_8cpp</filename>
    <includes id="expose-solvers_8hpp" name="expose-solvers.hpp" local="yes" imported="no">tsid/bindings/python/solvers/expose-solvers.hpp</includes>
    <includes id="bindings_2python_2solvers_2solver-HQP-eiquadprog_8hpp" name="bindings/python/solvers/solver-HQP-eiquadprog.hpp" local="yes" imported="no">tsid/bindings/python/solvers/solver-HQP-eiquadprog.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverHQuadProg</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af5c1790d9c5e03ccf6b9d137f92fc75f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverOSQP</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa5dd96600ae210f91957dc10228cecee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverProxQP</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a0867bae02af8e0f280dd543f5598f080</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/solvers/solver-HQP-eiquadprog.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>src_2solvers_2solver-HQP-eiquadprog_8cpp</filename>
    <includes id="solvers_2solver-HQP-eiquadprog_8hpp" name="solvers/solver-HQP-eiquadprog.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-eiquadprog.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="yes" imported="no">tsid/utils/stop-watch.hpp</includes>
  </compound>
  <compound kind="file">
    <name>bindings/python/solvers/solver-HQP-eiquadprog.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/solvers/</path>
    <filename>bindings_2python_2solvers_2solver-HQP-eiquadprog_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="solvers_2solver-HQP-eiquadprog_8hpp" name="solvers/solver-HQP-eiquadprog.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-eiquadprog.hpp</includes>
    <includes id="solver-HQP-eiquadprog-fast_8hpp" name="solver-HQP-eiquadprog-fast.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-eiquadprog-fast.hpp</includes>
    <includes id="solver-HQP-output_8hpp" name="solver-HQP-output.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-output.hpp</includes>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="container_8hpp" name="container.hpp" local="yes" imported="no">tsid/bindings/python/utils/container.hpp</includes>
    <class kind="struct">tsid::python::SolverHQuadProgPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>solvers/solver-HQP-eiquadprog.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solvers_2solver-HQP-eiquadprog_8hpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="no" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverHQuadProg</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-factory.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-HQP-factory_8cpp</filename>
    <includes id="solver-HQP-factory_8hpp" name="solver-HQP-factory.hpp" local="no" imported="no">tsid/solvers/solver-HQP-factory.hpp</includes>
    <includes id="solvers_2solver-HQP-eiquadprog_8hpp" name="solvers/solver-HQP-eiquadprog.hpp" local="no" imported="no">tsid/solvers/solver-HQP-eiquadprog.hpp</includes>
    <includes id="solver-HQP-eiquadprog-fast_8hpp" name="solver-HQP-eiquadprog-fast.hpp" local="no" imported="no">tsid/solvers/solver-HQP-eiquadprog-fast.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-factory.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-factory_8hpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="no" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <includes id="solver-HQP-eiquadprog-rt_8hpp" name="solver-HQP-eiquadprog-rt.hpp" local="no" imported="no">tsid/solvers/solver-HQP-eiquadprog-rt.hpp</includes>
    <class kind="struct">tsid::solvers::SolverHQPFactory</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-output.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-output_8hpp</filename>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <class kind="class">tsid::solvers::HQPOutput</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-qpmad.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-HQP-qpmad_8cpp</filename>
    <includes id="solver-HQP-qpmad_8hpp" name="solver-HQP-qpmad.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-qpmad.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="yes" imported="no">tsid/utils/stop-watch.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-qpmad.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-qpmad_8hpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="no" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverHQpmad</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-HQP-qpoases.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-HQP-qpoases_8cpp</filename>
  </compound>
  <compound kind="file">
    <name>solver-HQP-qpoases.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-HQP-qpoases_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>solver-osqp.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-osqp_8cpp</filename>
    <includes id="solvers_2solver-osqp_8hpp" name="solvers/solver-osqp.hpp" local="yes" imported="no">tsid/solvers/solver-osqp.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="yes" imported="no">tsid/utils/stop-watch.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/solvers/solver-osqp.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/solvers/</path>
    <filename>bindings_2python_2solvers_2solver-osqp_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="solvers_2solver-osqp_8hpp" name="solvers/solver-osqp.hpp" local="yes" imported="no">tsid/solvers/solver-osqp.hpp</includes>
    <includes id="solver-HQP-output_8hpp" name="solver-HQP-output.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-output.hpp</includes>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="container_8hpp" name="container.hpp" local="yes" imported="no">tsid/bindings/python/utils/container.hpp</includes>
    <class kind="struct">tsid::python::SolverOSQPPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>solvers/solver-osqp.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solvers_2solver-osqp_8hpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverOSQP</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
    <member kind="define">
      <type>#define</type>
      <name>START_PROFILER_OSQP</name>
      <anchorfile>solvers_2solver-osqp_8hpp.html</anchorfile>
      <anchor>afadcb306688f2eaa38a878ea44d006da</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>STOP_PROFILER_OSQP</name>
      <anchorfile>solvers_2solver-osqp_8hpp.html</anchorfile>
      <anchor>a63a2f95b5706618ce9784c55027527b9</anchor>
      <arglist>(x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>solver-proxqp.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>solver-proxqp_8cpp</filename>
    <includes id="solvers_2solver-proxqp_8hpp" name="solvers/solver-proxqp.hpp" local="yes" imported="no">tsid/solvers/solver-proxqp.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="yes" imported="no">tsid/utils/stop-watch.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/solvers/solver-proxqp.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/solvers/</path>
    <filename>bindings_2python_2solvers_2solver-proxqp_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="solvers_2solver-proxqp_8hpp" name="solvers/solver-proxqp.hpp" local="yes" imported="no">tsid/solvers/solver-proxqp.hpp</includes>
    <includes id="solver-HQP-output_8hpp" name="solver-HQP-output.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-output.hpp</includes>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <includes id="container_8hpp" name="container.hpp" local="yes" imported="no">tsid/bindings/python/utils/container.hpp</includes>
    <class kind="struct">tsid::python::SolverProxQPPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>solvers/solver-proxqp.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solvers_2solver-proxqp_8hpp</filename>
    <includes id="solver-HQP-base_8hpp" name="solver-HQP-base.hpp" local="yes" imported="no">tsid/solvers/solver-HQP-base.hpp</includes>
    <class kind="class">tsid::solvers::SolverProxQP</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
    <member kind="define">
      <type>#define</type>
      <name>START_PROFILER_PROXQP</name>
      <anchorfile>solvers_2solver-proxqp_8hpp.html</anchorfile>
      <anchor>a6139ee8ea221fe44042455f441218005</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>STOP_PROFILER_PROXQP</name>
      <anchorfile>solvers_2solver-proxqp_8hpp.html</anchorfile>
      <anchor>a01f69a53c26728ed5e223b741ff13763</anchor>
      <arglist>(x)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>solver-qpData.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solver-qpData_8hpp</filename>
    <class kind="struct">tsid::solvers::QPDataBaseTpl</class>
    <class kind="struct">tsid::solvers::QPDataQuadProgTpl</class>
    <class kind="struct">tsid::solvers::QPDataTpl</class>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
  </compound>
  <compound kind="file">
    <name>statistics.cpp</name>
    <path>/tmp/ws/src/tsid/src/utils/</path>
    <filename>statistics_8cpp</filename>
    <includes id="statistics_8hpp" name="statistics.hpp" local="yes" imported="no">tsid/utils/statistics.hpp</includes>
    <member kind="function">
      <type>Statistics &amp;</type>
      <name>getStatistics</name>
      <anchorfile>statistics_8cpp.html</anchorfile>
      <anchor>a2ec4c67d36ce148cdf1bb48abcf19dc0</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>statistics.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/utils/</path>
    <filename>statistics_8hpp</filename>
    <class kind="struct">Statistics::QuantityData</class>
    <class kind="class">Statistics</class>
    <class kind="struct">StatisticsException</class>
    <member kind="define">
      <type>#define</type>
      <name>STATISTICS_MAX_NAME_LENGTH</name>
      <anchorfile>statistics_8hpp.html</anchorfile>
      <anchor>a84ca76cf1e27f557b31ec0c794fd0a8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Statistics &amp;</type>
      <name>getStatistics</name>
      <anchorfile>statistics_8hpp.html</anchorfile>
      <anchor>a2ec4c67d36ce148cdf1bb48abcf19dc0</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>Stdafx.hh</name>
    <path>/tmp/ws/src/tsid/include/tsid/utils/</path>
    <filename>Stdafx_8hh</filename>
  </compound>
  <compound kind="file">
    <name>stop-watch.cpp</name>
    <path>/tmp/ws/src/tsid/src/utils/</path>
    <filename>stop-watch_8cpp</filename>
    <includes id="Stdafx_8hh" name="Stdafx.hh" local="yes" imported="no">tsid/utils/Stdafx.hh</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="yes" imported="no">tsid/utils/stop-watch.hpp</includes>
    <member kind="function">
      <type>Stopwatch &amp;</type>
      <name>getProfiler</name>
      <anchorfile>stop-watch_8cpp.html</anchorfile>
      <anchor>ad945052ee4e72d8edfa6df638f29283c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>stop-watch.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/utils/</path>
    <filename>stop-watch_8hpp</filename>
    <includes id="Stdafx_8hh" name="Stdafx.hh" local="yes" imported="no">tsid/utils/Stdafx.hh</includes>
    <class kind="struct">Stopwatch::PerformanceData</class>
    <class kind="class">Stopwatch</class>
    <class kind="struct">StopwatchException</class>
    <member kind="define">
      <type>#define</type>
      <name>START_PROFILER</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>a456aea1084c99e42c9458993a8cc754d</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>STOP_PROFILER</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>abf20a1b19b99ad1adc374e0152f48021</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>STOP_WATCH_MAX_NAME_LENGTH</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>aaa86e0ec12bd71b575aec383b1df0b4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>STOP_WATCH_TIME_WIDTH</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>a19b94bbc4764a515d1ceabcef7625f47</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>StopwatchMode</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>adcf4e95e4824d1427aa95145315e4f30</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NONE</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>adcf4e95e4824d1427aa95145315e4f30ac157bdf0b85a40d2619cbc8bc1ae5fe2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>CPU_TIME</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>adcf4e95e4824d1427aa95145315e4f30a0e7955f67a8a0a37622184b3486f9617</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>REAL_TIME</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>adcf4e95e4824d1427aa95145315e4f30a85370ee1b2eddb02ab4efd5109eed728</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Stopwatch &amp;</type>
      <name>getProfiler</name>
      <anchorfile>stop-watch_8hpp.html</anchorfile>
      <anchor>ad945052ee4e72d8edfa6df638f29283c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>talos_arm_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>talos__arm__conf_8py</filename>
    <namespace>talos_arm_conf</namespace>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a87cec10ef1973f7e55bb0cd4d053c113</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a014632a84809437f748e5fef9c9f7710</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a6e3c44947f604169f9272359cd0f3cef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a2bcc32546df5325a20ed5fe1c5d75e83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ee_frame_name</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>aff9390e50a52cf2a0124966e215865c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ad1ef5ec00de93cdec9c2a2cef23a76fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a656c30823570147dda1a8d73c594aa11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_task_mask</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a5fc242c02230c013628c111aaacdb104</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_ee</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ae1ba2bd35a95e2377b185d1f3d910859</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ab8895eab004080ff4e869ee7572e66cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ab15e3c542acba73dc8da6eb1c90f5dc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a70172910733cd31d694ee772e64c7708</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a8f58eec1f3c357c7c790296bdedf97eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a9bd2f8573e08ae5e5c85e75671dd57dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ae22f62cddf271148e04d6408f08b9a25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ab9e62d561a1b3969146b329c7961d9b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>af2f6b93bb69f8ba5d02c9531df6e3cad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>aad02e57dcf18f329cb448f63743a7741</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a043a3e7f73d52daeac283c8b890ec8bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>aa2e6fa1d0fb5acfdf2b91a625adda4f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a4f655ea0fe1d3ce901d89514b45bbb9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a9e6b9362e1a0abf44ea77d40f3e97af5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a7c6d96ac2dd6f87081c6316e0cfd2de7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>two_pi_f</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a1cb47009df3b5f5e156e4de05ccfd9d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a70e54a32c8722068b34b56b27ee65f9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a426566067fe79f09f0c37a08b0d70159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_ee</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a4070d5ed3c1828d999da770778ea0875</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ac839add5a343d32a9c1f0f2696d9edf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a6fa3d2cd9ed74c4fc347501b41df2552</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>add46bf989241a7aeebb2efc2f14bcb1d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>talos_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>talos__conf_8py</filename>
    <namespace>talos_conf</namespace>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aaa6d1357122960b89a8c664f6cc1c69e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a6589fb794b5b61a7609c0327484a9199</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af5958fe40ddd151953369ed2c2b4f9d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a6f80c7172798278a891fd82f99d15d60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a858091572761428ccf72e5cd53da3f0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>afed72dbd3386724190ed04ed9121f5d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a849d481ed02c75c55f3d94e612e3ea82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>acc1b698d8371beaa39805fcd965abb7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gain_vector</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aed383f4333a25f4704298d6c0d015fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_am</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ac702029989dd5871ec24bb1bb5eebbae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a997d6f464b1f8bf1dc6178fcb0490dbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af741e9c0edf5d9d9efdf3d5f82f478aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a9465a7c632cb3bd27585617824ac5ed9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ae61a693b1e83e88c045a90404714e290</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a2dbe0fb480e5a4f3262d18fc2685ba9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af48afdb7c9eec4e63154ed6a95df3182</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a34e4780b6639ba95738393ca63f62778</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a08785c7ac6b85b351fa4fc30198d2234</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aadbc7102a68d9bc516ef8f0057e37d74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a662c99e3b2c6b1f8c099c18afe57f581</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a31995c3af3604491c2b9da5f0fb41c55</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ac7ff18031ccdb4262ca9f8a2e5149e4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ae8273c11c0dd7c1dbade4378a4b23190</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a33e4f9d6e85aca2e4eafda354da68b9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aac9c63383e55b48d1177d481b420f68c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ace4ec382173abe1af4305bd27154daae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a3de9263ca5037e41c9482255ff1d6d7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ac3aa6ff1d1afab15cea0dd3d4acbe056</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a226158b4012606390e18c67c465fe9b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a9550ac007e54b14554fc42bff1218710</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a7675c969c330b498861ff96405029379</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a0fbe440c2f7725c7a83c3c129683365a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a56d381cba2bd6983f99875cb69c5f9dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a27d600cdc3a9b8581edd65012a6cc166</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a83c2397f7d34e1d5d5d7ba278c8db743</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>adcf99edae4b193397bac934f01315cc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aa539f5f288ad30aa88c7a0eb363414e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a586ce2bda2010a10a527695c0eaa1575</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a7aabb85f1d147db3ea6fc13c34b18705</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a0f7d0df16875eb47de83f97435413c69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a51851a64c6ab9fc1c5a2b360888eb3ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_am</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a820e9232682fcd17b02891f960044ccf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a2d7dcca404ff1d7479fff0f9ad25a135</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_contact</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a83abbf4d3b725aad7bc765fa95922046</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_cop</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af31182a4c5fbd06cf5bf817a9fecd718</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a6b577c232bd4c9107d8ed599173a44f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a570b226eb278b9423f606c77104ff47f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a8322de8b85608ddd43e65adde45bfba0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af99113e87f40903fbd047fb7eadd9b0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a857d1798534c6d98ef1809e919f02e20</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-actuation-bounds.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-actuation-bounds_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-actuation-bounds_8hpp" name="bindings/python/tasks/task-actuation-bounds.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-actuation-bounds.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskActuationBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a10970f19c507aae2531a76dff77df4e6</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-actuation-bounds.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-actuation-bounds_8cpp</filename>
    <includes id="tasks_2task-actuation-bounds_8hpp" name="tasks/task-actuation-bounds.hpp" local="no" imported="no">tsid/tasks/task-actuation-bounds.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-actuation-bounds.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-actuation-bounds_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-actuation-bounds_8hpp" name="tasks/task-actuation-bounds.hpp" local="yes" imported="no">tsid/tasks/task-actuation-bounds.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="yes" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskActuationBoundsPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-actuation-bounds.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-actuation-bounds_8hpp</filename>
    <includes id="task-actuation_8hpp" name="task-actuation.hpp" local="no" imported="no">tsid/tasks/task-actuation.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="no" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="no" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <class kind="class">tsid::tasks::TaskActuationBounds</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-actuation-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-actuation-equality_8cpp</filename>
    <includes id="task-actuation-equality_8hpp" name="task-actuation-equality.hpp" local="no" imported="no">tsid/tasks/task-actuation-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-actuation-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-actuation-equality_8hpp</filename>
    <includes id="task-actuation_8hpp" name="task-actuation.hpp" local="no" imported="no">tsid/tasks/task-actuation.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="no" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::tasks::TaskActuationEquality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-actuation.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-actuation_8cpp</filename>
    <includes id="task-actuation_8hpp" name="task-actuation.hpp" local="no" imported="no">tsid/tasks/task-actuation.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-actuation.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-actuation_8hpp</filename>
    <includes id="task-base_8hpp" name="task-base.hpp" local="no" imported="no">tsid/tasks/task-base.hpp</includes>
    <class kind="class">tsid::tasks::TaskActuation</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-am-equality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>task-am-equality_8cpp</filename>
    <includes id="task-am-equality_8hpp" name="task-am-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-am-equality.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskAMEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aba2a9bff8d8145bf018f227ac29e2068</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>task-am-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>task-am-equality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="task-angular-momentum-equality_8hpp" name="task-angular-momentum-equality.hpp" local="yes" imported="no">tsid/tasks/task-angular-momentum-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskAMEqualityPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>task-angular-momentum-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-angular-momentum-equality_8cpp</filename>
    <includes id="task-angular-momentum-equality_8hpp" name="task-angular-momentum-equality.hpp" local="yes" imported="no">tsid/tasks/task-angular-momentum-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-angular-momentum-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-angular-momentum-equality_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="yes" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::tasks::TaskAMEquality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-base.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-base_8cpp</filename>
    <includes id="task-base_8hpp" name="task-base.hpp" local="yes" imported="no">tsid/tasks/task-base.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-base_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="robots_2fwd_8hpp" name="robots/fwd.hpp" local="yes" imported="no">tsid/robots/fwd.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="class">tsid::tasks::TaskBase</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-capture-point-inequality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-capture-point-inequality_8cpp</filename>
    <includes id="task-capture-point-inequality_8hpp" name="task-capture-point-inequality.hpp" local="no" imported="no">tsid/tasks/task-capture-point-inequality.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-capture-point-inequality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-capture-point-inequality_8hpp</filename>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="no" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="no" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="no" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <class kind="class">tsid::tasks::TaskCapturePointInequality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-com-equality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-com-equality_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-com-equality_8hpp" name="bindings/python/tasks/task-com-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-com-equality.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskComEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab0e24fca883e5fe1c248c83ba4ba350b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-com-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-com-equality_8cpp</filename>
    <includes id="tasks_2task-com-equality_8hpp" name="tasks/task-com-equality.hpp" local="yes" imported="no">tsid/tasks/task-com-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-com-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-com-equality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-com-equality_8hpp" name="tasks/task-com-equality.hpp" local="yes" imported="no">tsid/tasks/task-com-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskCOMEqualityPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-com-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-com-equality_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="yes" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::tasks::TaskComEquality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-contact-force-equality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-contact-force-equality_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-contact-force-equality_8hpp" name="bindings/python/tasks/task-contact-force-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-contact-force-equality.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskContactForceEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a6c688587b0be2b0a35b751c71cc0053b</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-contact-force-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-contact-force-equality_8cpp</filename>
    <includes id="tasks_2task-contact-force-equality_8hpp" name="tasks/task-contact-force-equality.hpp" local="yes" imported="no">tsid/tasks/task-contact-force-equality.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-contact-force-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-contact-force-equality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-contact-force-equality_8hpp" name="tasks/task-contact-force-equality.hpp" local="yes" imported="no">tsid/tasks/task-contact-force-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskContactForceEqualityPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-contact-force-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-contact-force-equality_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="task-contact-force_8hpp" name="task-contact-force.hpp" local="yes" imported="no">tsid/tasks/task-contact-force.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="contact-base_8hpp" name="contact-base.hpp" local="yes" imported="no">tsid/contacts/contact-base.hpp</includes>
    <class kind="class">tsid::tasks::TaskContactForceEquality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-contact-force.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-contact-force_8cpp</filename>
    <includes id="task-contact-force_8hpp" name="task-contact-force.hpp" local="yes" imported="no">tsid/tasks/task-contact-force.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-contact-force.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-contact-force_8hpp</filename>
    <includes id="task-base_8hpp" name="task-base.hpp" local="no" imported="no">tsid/tasks/task-base.hpp</includes>
    <includes id="contact-level_8hpp" name="contact-level.hpp" local="no" imported="no">tsid/formulations/contact-level.hpp</includes>
    <class kind="class">tsid::tasks::TaskContactForce</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-cop-equality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-cop-equality_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-cop-equality_8hpp" name="bindings/python/tasks/task-cop-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-cop-equality.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskCopEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>acaca7b670e779d3d098ef66465d1a950</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-cop-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-cop-equality_8cpp</filename>
    <includes id="tasks_2task-cop-equality_8hpp" name="tasks/task-cop-equality.hpp" local="yes" imported="no">tsid/tasks/task-cop-equality.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-cop-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-cop-equality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-cop-equality_8hpp" name="tasks/task-cop-equality.hpp" local="yes" imported="no">tsid/tasks/task-cop-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskCOPEqualityPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-cop-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-cop-equality_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="task-contact-force_8hpp" name="task-contact-force.hpp" local="yes" imported="no">tsid/tasks/task-contact-force.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="inverse-dynamics-formulation-base_8hpp" name="inverse-dynamics-formulation-base.hpp" local="yes" imported="no">tsid/formulations/inverse-dynamics-formulation-base.hpp</includes>
    <class kind="class">tsid::tasks::TaskCopEquality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-joint-bounds.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-joint-bounds_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-joint-bounds_8hpp" name="bindings/python/tasks/task-joint-bounds.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-joint-bounds.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae4a48970305d98905ef27e92f4d7da29</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-joint-bounds.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-joint-bounds_8cpp</filename>
    <includes id="tasks_2task-joint-bounds_8hpp" name="tasks/task-joint-bounds.hpp" local="no" imported="no">tsid/tasks/task-joint-bounds.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-joint-bounds.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-joint-bounds_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-joint-bounds_8hpp" name="tasks/task-joint-bounds.hpp" local="yes" imported="no">tsid/tasks/task-joint-bounds.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="yes" imported="no">tsid/math/constraint-bound.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskJointBoundsPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-joint-bounds.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-joint-bounds_8hpp</filename>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="no" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="no" imported="no">tsid/math/constraint-bound.hpp</includes>
    <class kind="class">tsid::tasks::TaskJointBounds</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-joint-posture.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-joint-posture_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-joint-posture_8hpp" name="bindings/python/tasks/task-joint-posture.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-joint-posture.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointPosture</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ac3ae1f2a84e721b6e3f14697a544a26e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-joint-posture.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-joint-posture_8cpp</filename>
    <includes id="tasks_2task-joint-posture_8hpp" name="tasks/task-joint-posture.hpp" local="no" imported="no">tsid/tasks/task-joint-posture.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-joint-posture.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-joint-posture_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-joint-posture_8hpp" name="tasks/task-joint-posture.hpp" local="yes" imported="no">tsid/tasks/task-joint-posture.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskJointPosturePythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-joint-posture.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-joint-posture_8hpp</filename>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="no" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="no" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="no" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::tasks::TaskJointPosture</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-joint-posVelAcc-bounds.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-joint-posVelAcc-bounds_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-joint-posVelAcc-bounds_8hpp" name="bindings/python/tasks/task-joint-posVelAcc-bounds.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-joint-posVelAcc-bounds.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointPosVelAccBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae6976f89be90c75de7baf3f155a5e875</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-joint-posVelAcc-bounds.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-joint-posVelAcc-bounds_8cpp</filename>
    <includes id="tasks_2task-joint-posVelAcc-bounds_8hpp" name="tasks/task-joint-posVelAcc-bounds.hpp" local="no" imported="no">tsid/tasks/task-joint-posVelAcc-bounds.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-joint-posVelAcc-bounds.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-joint-posVelAcc-bounds_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-joint-posVelAcc-bounds_8hpp" name="tasks/task-joint-posVelAcc-bounds.hpp" local="yes" imported="no">tsid/tasks/task-joint-posVelAcc-bounds.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="yes" imported="no">tsid/math/constraint-bound.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskJointPosVelAccBoundsPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab19d99e7726f4a12c43588d10df21ee6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>tasks/task-joint-posVelAcc-bounds.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-joint-posVelAcc-bounds_8hpp</filename>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="no" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="math_2constraint-bound_8hpp" name="math/constraint-bound.hpp" local="no" imported="no">tsid/math/constraint-bound.hpp</includes>
    <includes id="math_2constraint-inequality_8hpp" name="math/constraint-inequality.hpp" local="no" imported="no">tsid/math/constraint-inequality.hpp</includes>
    <class kind="class">tsid::tasks::TaskJointPosVelAccBounds</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>task-motion.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>task-motion_8cpp</filename>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="yes" imported="no">tsid/tasks/task-motion.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>namespacetsid_1_1tasks.html</anchorfile>
      <anchor>ad0faaec488fbc0de0147523ded4e9c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>namespacetsid_1_1tasks.html</anchorfile>
      <anchor>ae78641933ca3d3059f7caab7cfe7cd8c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>task-motion.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>task-motion_8hpp</filename>
    <includes id="task-base_8hpp" name="task-base.hpp" local="yes" imported="no">tsid/tasks/task-base.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <class kind="class">tsid::tasks::TaskMotion</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-se3-equality.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-se3-equality_8cpp</filename>
    <includes id="bindings_2python_2tasks_2task-se3-equality_8hpp" name="bindings/python/tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/bindings/python/tasks/task-se3-equality.hpp</includes>
    <includes id="expose-tasks_8hpp" name="expose-tasks.hpp" local="yes" imported="no">tsid/bindings/python/tasks/expose-tasks.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskSE3Equality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a74df4dc480213996aed0b4d2e9dbfc4f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/tasks/task-se3-equality.cpp</name>
    <path>/tmp/ws/src/tsid/src/tasks/</path>
    <filename>src_2tasks_2task-se3-equality_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/tasks/task-se3-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/tasks/</path>
    <filename>bindings_2python_2tasks_2task-se3-equality_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="yes" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="yes" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <class kind="struct">tsid::python::TaskSE3EqualityPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>tasks/task-se3-equality.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/tasks/</path>
    <filename>tasks_2task-se3-equality_8hpp</filename>
    <includes id="task-motion_8hpp" name="task-motion.hpp" local="yes" imported="no">tsid/tasks/task-motion.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <includes id="math_2constraint-equality_8hpp" name="math/constraint-equality.hpp" local="yes" imported="no">tsid/math/constraint-equality.hpp</includes>
    <class kind="class">tsid::tasks::TaskSE3Equality</class>
    <namespace>tsid</namespace>
    <namespace>tsid::tasks</namespace>
  </compound>
  <compound kind="file">
    <name>tasks.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>tasks_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <includes id="robots_2robot-wrapper_8hpp" name="robots/robot-wrapper.hpp" local="no" imported="no">tsid/robots/robot-wrapper.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="no" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="tasks_2task-com-equality_8hpp" name="tasks/task-com-equality.hpp" local="no" imported="no">tsid/tasks/task-com-equality.hpp</includes>
    <includes id="tasks_2task-joint-posture_8hpp" name="tasks/task-joint-posture.hpp" local="no" imported="no">tsid/tasks/task-joint-posture.hpp</includes>
    <includes id="tasks_2task-joint-bounds_8hpp" name="tasks/task-joint-bounds.hpp" local="no" imported="no">tsid/tasks/task-joint-bounds.hpp</includes>
    <includes id="tasks_2task-joint-posVelAcc-bounds_8hpp" name="tasks/task-joint-posVelAcc-bounds.hpp" local="no" imported="no">tsid/tasks/task-joint-posVelAcc-bounds.hpp</includes>
    <includes id="trajectories_2trajectory-se3_8hpp" name="trajectories/trajectory-se3.hpp" local="no" imported="no">tsid/trajectories/trajectory-se3.hpp</includes>
    <includes id="trajectories_2trajectory-euclidian_8hpp" name="trajectories/trajectory-euclidian.hpp" local="no" imported="no">tsid/trajectories/trajectory-euclidian.hpp</includes>
    <member kind="define">
      <type>#define</type>
      <name>REQUIRE_FINITE</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>acf09914116cb7635f2bb156d5e2f067f</anchor>
      <arglist>(A)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>a636cf6bb44997ec12d65bedf2761ba78</anchor>
      <arglist>(test_task_se3_equality)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>a808867cb9bba83c9b03d280ce131c1ac</anchor>
      <arglist>(test_task_com_equality)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>a38c459a08234181e85a27ecb593ee705</anchor>
      <arglist>(test_task_joint_posture)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>a03c89334fd7a88cb4c64644efb927001</anchor>
      <arglist>(test_task_joint_bounds)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>a61f52d72da8c2340c6dbb95178e050c8</anchor>
      <arglist>(test_task_joint_posVelAcc_bounds)</arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>max_it</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>ad0a830585ef4e7a54f5185e013212e30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const string</type>
      <name>romeo_model_path</name>
      <anchorfile>tasks_8cpp.html</anchorfile>
      <anchor>a3b8707638c03334520caf70e3fe008aa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Constraint.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Constraint_8py</filename>
    <namespace>test_Constraint</namespace>
    <member kind="variable">
      <type></type>
      <name>A</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a300c152d0f862043c1189df1fca8ee2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>afeadf16fbb6f9ef161c4781a48e95495</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ConstBound</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a621f53f4449403df6fd322b8622c761b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>equality</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>afb63f87d7d3089fd4752b474b4a520cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>inequality</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a552af3d52f7aa7b1e88190259ba33f73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lb</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a14e2fc8371eca5fae459c7bd70925592</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>m</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a2b08538856ef37b981b57d2ac72f875f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>n</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a6db7d6893cf5b6ac39429547e88ab5f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>aec403ab6dc6803dec3c014dbd3cc9bb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ub</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>abb4feac2881b2ed3da3cb8687186dde1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Contact.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Contact_8py</filename>
    <namespace>test_Contact</namespace>
    <member kind="variable">
      <type></type>
      <name>contact</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>aa9d78b0c91fd7b0324152ebefae8bd51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_Point</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a65cfb1d70fe0c45e56436b3dea290a0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>adfd91618e135ed941a992274d833e87a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a585cb18b02841166428de3d93f9db1ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ad5528fa77214226014eeb4640539d159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f3</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a92e029b98a5b6c8586582e09c7f83fc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ae08b3e7e64a6b0d95172722e39e78b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a9fa40f100181e9de4d670c21b6ca98fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ae8d982754afd62703d4dfd6fa8d0e7fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceGenMat</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a2dbed9664fedc64f7f2cad04625f7aae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceIneq</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a564507335a7edd7fe4fe8a4289d1ae89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>frameName</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a01ca0cab8a0672e8b9fff9d2972a8e52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_ref</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a4ae380cb595a8c163b2ebf0976212dd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>Kd</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ac31a17f4d39c92fbfa4853e0feabf703</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Kp</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a28374650e3571409890d451410903e5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lx</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a352bf82035a471195e0c771a12179ea2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>ly</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>afedaaaf9fcc6afb5b233bfb0850d8603</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a752b6e5caeefa3a8a034382eb5a94ad0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a2ece0ffb92fbd2250f3ad50a2325584a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>abf5d959b982a79d524972224fc3a0abe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a2c441e06095da9e17be6b598c15af73c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a065b55dbf20861084cada23cd416212f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>abed0853072a3d7695c5eaf77954d0bdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a6abe38b739dfa8d4be017c15595b5c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a935b1ec56c8f592a79224be837753b15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ab688e74c85bfc062286570082bdbf3be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a232404db71079c53dda880c9280fb92d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a3b32b23dd923c9f88df138e58e59fcbd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_ContactPoint.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__ContactPoint_8py</filename>
    <namespace>test_ContactPoint</namespace>
    <member kind="variable">
      <type></type>
      <name>contact</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>aa13adda88431a3a937e4db4082ab0ff5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a9183cdac3a1bc70e3a4bcc09a2d24f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ad194b0824df5f35af590e59cb180e3ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ad15e3f40a898c73d7704551933d27178</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ae374af802ddb052bc0d897ecff80e4db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac6c30902ced5df154aed0ce34b79317a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a11f1a2b7b18db0a3d79f4730906436a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceGenMat</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac73c5ad893c42d63aac51f875a4c8dbb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceIneq</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a966eb5b6b3c2245313ac448adb4c0298</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>frameName</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>af1089a2087fc3d2a412b09249028d13e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_ref</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a243673e585b148d8468eb43505e6869a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>Kd</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a146c3f5809016ff0b463d5ad93c3bbcd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Kp</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>abeca8fb48c518f2c4b9caa03872a5d97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac88a0162c65960048da2b1ec69141c97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ade3cabfbe10963b4142d030ace7bd5ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac71063334b13063690e6602a4db55749</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>af8d4b7630bd57f79521d1ba4d7dbde36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>acca3ca9198b755a03c6170dd44bc26d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a48bc9d25ac81987da140532044a8f63d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a15254825c9ebc798bc5b1d8879f05c0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a21bf7fdf57245f4a4824dec5c9d1f640</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a5fce5df6dc1bc5b94598452d2ed558a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a5947ec1e4ee3c78eb508a88aa9537486</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_cop_task.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>test__cop__task_8py</filename>
    <namespace>test_cop_task</namespace>
    <member kind="variable">
      <type></type>
      <name>alpha</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acb562961c2d4046e1528cc9a7317fce6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a2864fb09b2b753e67a0fa0e79c03b857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a337c768630579e781d28aef802cf9e74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>com_acc_des</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a910bf2896a724032592bba5920385ba5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac86752bc030c8c7e5b44a1d9ca141e07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a81066f0efc14e6b6132098d14c72458d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acd772d929564b0feb4f42f88489cecad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a008fe488f687e8c2d6cf869ad0aa5118</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aa01d909c4d1c4b7612c4d8de4ef18e01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_phase</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a8dd3afa7ba4519f7fedc49e26b8df4a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a58de84d99e917cdec27ffb9a65d07029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a301657397aa08be3ca49ed0adb33c31c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_LF_world</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a71b2977c9c0db0441ded5abccc996649</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a3dbdd05db16a4a4695ff0de59fd75ceb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ae0ab66060e5051fdbeac63e537622717</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_RF_world</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>abb34e9017ca5f06d022f7a4951b06356</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac35eafd73ba527c697ec56690257a996</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>afda95795ab8416e89ea4055711ae4aab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_des</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a4a1179fecc77dae07d29d699191b8276</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a15894cda83d50130fca680116141f6ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a363bd9f2de48b2fba250d69379690902</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_des</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad7dd4041ed0806d0582048fa7adfc52d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac4dd619bc386355594b34cb19d304e7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad3db27c78264983e3eca57f20cea7403</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ab97f1866359944c5ef8666704d561879</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a76dd1b24909d2858930bb3531af211f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a59993f40eb2f13c074ddc0af4976fc8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a814c74bb42a2bf3e88ac3df2fc7bede7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a38c84a63d86278071f760a529c0a9e79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad123b5434c53c61268c1e7cd50f7b8b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a3185d6c8110d405845fd6f3c97d572a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a77db090cdcd0215028a3a614f796aa1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a81ee72624eda9fdf865780a312b13fe8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ace1b74f2d35ad16f4532c6092dae61b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a167e8657f5459664f51501678e70d928</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_post</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>adf0e67923e4f72b009de253cb7065527</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_pre</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a472c4d6d8f0e6adf9ffb400ecf9b3535</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a4b674c0025e178be0aad0101b6388c0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COM</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac3d3e9ca50bfc7d3144210e3709008e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COP</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a999fc3715e9134c532239cec7c8bcca0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_FOOT_TRAJ</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a174ac2376a81e536e4784b770528d899</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a052fe565b2b29524b50cabd6f1b19538</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a054fa504239fd0fcbe64d8d8bc7d4cbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>af868da0c0b2f10765aa9fc8cd0f732ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_log</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a375b81c9809e30ee1c44432d61d6c565</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad7eef48d9fd318cad74c2ac5f1db31d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>t</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a567e1f3d728e1d50f818bb16d7127f34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aaa6bc5d3f0268f6e5a26702fdf6c2f16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acf3c24700fc50350bbf2f2d480d9f53c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a6eb59e3655b5ac1b800a07484e76e445</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>tau_normalized</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aa4ebbee5fe88b7d72a8ad9ff65583df6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a90958b619054c978400d37b07d408c2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a27455eba9b1b3372515b1980340f545f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a9d2a74c1b8a2708772399fb10e4ff8a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acd5bfb2d66411d897ed1652d53bf3480</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a00b879fbcf9bcaaf65c61d9b37127c3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_log</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a0cadb94e09e5e6e0cd558e76696e0b74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>v_normalized</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a7d7b229907942acc31766d0c0c258955</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aaa96f594e8aead12e653836f04079db9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a262747a742e9fa5d39459edb03c5b6ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a23344fa567c7bbe4730f1bfe2d54a909</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_rf</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a1e3868941fe13b799e183d1c4b0c0ac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a47c90efe310a5a85c630138dfb6d4787</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Deprecations.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Deprecations_8py</filename>
    <class kind="class">test_Deprecations::DeprecationTest</class>
    <namespace>test_Deprecations</namespace>
  </compound>
  <compound kind="file">
    <name>test_Formulation.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Formulation_8py</filename>
    <namespace>test_Formulation</namespace>
    <member kind="variable">
      <type></type>
      <name>com_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ae57705992a74cf9677d00bd80137bc9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comTask</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a292257847c5789285cc414e35a44adce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>contact_Point</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af9d27b2bdfd066271a3a038cfa44471c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>CONTACT_TRANSITION_TIME</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a083f8325ae600bba318f2e1c1822d474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactLF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>abe2139fed31a2126d4952e9ab9a6963c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>afe1659a5ccc91a5e7fbea7c86710ee0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactRF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af550890e111dd3fc8a6c3adc20f7d733</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a9ec9948f6a1db5a896816d42093dccec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a2323e780ad8f1617fd0827498c57cec4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ad0833f155431d1747558a07a42185f9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a08c29c3b8bc99ac797d5a43d8af737dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ada344f509ff3a02b14f7dc00018ba3e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a236d97674dcdcb304af4ceaddde731c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ab7d1fc3c4975dfd69477eba576497351</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_lf_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aaa6a5a1fcc1fa85689b9bfa1a7d330e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a4a4594a2bb8746efcff62c844da26dbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_ref_vec</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a3b5020a016b4fc8edce5fc5adcd38b6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a6ad63081b41f5e52d3c7167b6a76f6bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>invdyn</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a37761bf490464ae5cf699a32368f23f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aa9ea427f7cc67c9ad4ed2994a46a6b98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a06db148b2c750d66475ae4305fd6a8ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a64ced8996cc14bc919df0c167891e2dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_RF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ace43c9a79964491112ad635945f3281e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>adcf6d502840e91bfd6e7d1708daef02e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ab80df828972919f7a60982df902e3430</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>afe99e2b15c53668a03d14c1d991bd6da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af61ed3e7ff554b9e022d42a7b19f4f7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aaa23149a399eb582e41e1d7fa3f9857b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a55bf92abfac593fe0bf944522e5e3a62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_it</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>adf9ace6dce04aabe3d0fae649d6d4809</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a7deee6d359c5964e040c78a8c0ab9e26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a8b579c449b7b08455d0076068be175f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a24500dfdf3657681034ffa7cd23a1638</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a5ad339eb0b3012680f886aa4cff2cdad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af8a74b476e3c739c9a2c5a4e667c94a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aa356cd4cf84f2cb70d6541dc772f815e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a8faaa843e0709e8eb9cc23da0b6f0df4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>REMOVE_CONTACT_N</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>acf3870b8740faf00a451a72253f387b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aea21c0f93b05e93e8b138720b1333814</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rightFootTask</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a61413bc3facb8323c92e53a7b336f0ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a43f216a86f1032a56e2cbf3437a9db3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a7597f7b6f447695692760f639b47b426</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a45554c5642a471f18cc2d64ba4ab7e28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>afb3ce32cc8e50101386a57028015f44a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a4c7c996b3051a772c7357461fdff7ae9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a2a92dfa1885eda1c66dce1bef78bfce0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ac447f5901219b1989f58c1786d8125ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aa6e6c7ea4275760b4876e0f89391fd58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a0b4c80742856c7d66f1b26d91722b7ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_old</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a141abe9859cf90299df8a165fa62b6de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajCom</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a476b4f75287619937a8a72162da416c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aef7ee9929d5256b3465e8817f91cd376</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a2335b1e0f299419a0b5bd23bfc1bae9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a3183628e817064bab8ab8d06217021a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>acf786905d6af3242345d1a672ab40f61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a75dd98aa74cfc268c878d1122118125e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a1e921d3e33b3dda941a3d02b4ee758db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a40573164a195e0803304cbb919c07b16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_RF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>acb6aeb14fc4cfc9713eb6d2397adb17f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Gravity.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Gravity_8py</filename>
    <namespace>test_Gravity</namespace>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>ad61afeeec27d4e747a1be2f3dceae78b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>init_gravity</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a1a1f474b49cf56aa1fe0073bd278f1cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>no_gravity</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a9fbd9b4507bb878c18caaee8312d58f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a644a2cfd85f0b0ab7948eb03985d7a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a8ea7b935ae767b353a25edc1499b38e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>ac82601f05760a5c7701ea2321b7fcd61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a84e1ded300485f9f41251fe0e4ec2b18</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_RobotWrapper.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__RobotWrapper_8py</filename>
    <namespace>test_RobotWrapper</namespace>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a6e7dc6e7640a2599544c5fe62f228e22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>adb47d9ecd2e6513aca342597b83a6bcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lb</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>ae6690a67c594b7738ac30d5d6e81d890</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a4b8e659d1a5091642afedc82e98b8a9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>af0360ffbc1c05588e2abf10351116c49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a7f4033aff6f8c86f80098bd8aba7e06d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>ac3f8d6dfb2bcf4df03c18fbb20c9c29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ub</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>ae53aa961ef744e8812dfa388a1050816</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a1013fb186d411218c53745cda97dad0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a921865340f88662c54522b52c20753c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>adc1b8a4de0b86af6f931e5e0dd1a2214</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Solvers.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Solvers_8py</filename>
    <namespace>test_Solvers</namespace>
    <member kind="variable">
      <type>float</type>
      <name>A1</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a312c2ac2d79d172d9e987b86eb80ef48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>A_eq</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>afc32a7e9821c4445d5bb82edfd2110fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>A_in</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ad376ce77833b2a3aa918c96bf353accd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>A_lb</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a0b10000690e6b3c81efe1a6254a2c7e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>A_ub</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a27893be7851ecc8293aa6dbaa101e84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b1</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>acfe2c66c371fa8303aa7a4ffe5af5bf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b_eq</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a87a424de45e264f3c12d0d16fd8eed37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>const1</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a92154d335d7e086b37e79e88c7ecaf5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>const2</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab7f48d68108cbb82f6b18f54854ef122</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>constrVal</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a56952a98ed0487c9a257b12086b420bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cost</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a35eef8b9c3430344f9886582d3a2bd0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>damping</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a5be07fcdf9c6af66fb782039d7f0d6b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>EPS</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab169abe67dc85fb0eff140f6f2a44992</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>eq_const</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a211271f7b25107698195ac5236d7facc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>GRADIENT_PERTURBATION_VARIANCE</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a4b48adeb71b619057c9754d17b0d52e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>gradientPerturbations</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a6ec6be78afd9d5a7d9538aedeb11f276</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>HESSIAN_PERTURBATION_VARIANCE</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ada1149a7b825a6477fa3702677361fb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>hessianPerturbations</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a9979b844442998543b9249d453b16eca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ac38b2b2cc946ffd7923861dc48ba0930</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPoutput</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a29368e6cb9b44770fa1ecc15487d58f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>in_const</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab659a1835dce06fb549b9dad6ec13b77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>MARGIN_PERC</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ac404c34f4483fc689c39e9c9ef62f5b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>n</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a7f0cc9cdb25eb4f09bda1fc7d013f444</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>neq</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab98215ff12f3115d1fc0de0c01689c5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nin</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a80aba271ec3485687f398a98d30c340b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>NORMAL_DISTR_VAR</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a03cfc305f68e1f1c9f7b7539a6a27035</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nTest</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a76e0fc3a2699146324a0a40cfc255a2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver_eiquadprog</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a3e41d4923b0fe0afa875a992c70f5d54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>solver_list</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a23fd4ac16567a8396290a8baf90aea7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver_osqp</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a3a88cd5f6308add6e33b567b48cba89e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver_proxqp</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a6443380ed194b77144dee98d9206fd6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ae8c371b2dafb9a493974f6f34014d714</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Tasks.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Tasks_8py</filename>
    <namespace>test_Tasks</namespace>
    <member kind="variable">
      <type></type>
      <name>am_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a3e5db0e9915a4b4e21bd170f7a8fb182</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>com_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0fcfc489a897c15ff4be5bb518eba84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>const</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>afd4b9434de2a79a864fec04a727b89af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a7c6e03343b071444014fc76be04ed549</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data_next</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ac16819707e050e9b1685c58a73139364</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>diff_drift</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a70e9e8420694aa60ee0546f93d9e86ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>drift</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1c74ac9294a32b19710667c9ad8e4306</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>drift_pin</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>acac8bf9f6c0fb5da0aa10de1cb8a39a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a834f715bf9287d5f7bc797dd14a7f116</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>aa20526c47c21eafff869f28737767e62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>error</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a80443cf6e1c4dcd363c206cc29eea43d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>error_past</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a17bc5d0878357c0109af40b587ae795d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1133a500ffa79a0eb9341816a0a60238</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J_am</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a61262ac533dd2c73a069d098bf1b73ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J_am_next</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a5be13ad986d881af4e0771bd53fd2ea3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Jpinv</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a19b309a341e5d822aa6c0a4933d5f6f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>Kd</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a05432b5391314a6ba2ecfbebd65adc1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>Kp</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0f08e1b7cd14ef5d4c05153f2bd16c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>M_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a02d80aa9ed3c289900d540b6bccb8900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_it</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0c0bebc62c05bc89fa92cd77542a2170</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ade4841b36daf561423750cd040e647b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>na</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ae3652192fe9c8a31ae9fa5705651590a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a34fc3bc221af1a0e6a7ade5a5f38ca6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1030a90738721d9e1b37885094abb63f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_next</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>abbee349308d3d2faaab3d27460eb0da0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a7e29929258a96c7a055340cbb9ba8906</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ad050655b25fb8f862cfae617c64556a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a5e9a32e01cfa6b6a159798d43239d1ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a7cd7475724994ee7ba65da5b36a59d88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a3262c67ecfaf008923fd2b70565ceb06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>task_joint</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1fbd75f2addd5e15e8e0baf5f4647754</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>task_se3</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ad1969294bbfc197afef249c780b0c26a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>taskAM</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a69f322037debc7f31701966bee53e38c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>taskCOM</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a5b41860ecda65ae4351ac9cbdcca5aca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0bc784bc5585415d66a867c7e54df0a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a8a700abc189794aea90b3fc0fcf48d56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ad1dcf27c38cf9550b74f5a740c7d0db9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>aab98b31d712eae43519f8d4be9e4b9ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a621d776ed75ae872a22f88e1f3164062</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_Trajectories.py</name>
    <path>/tmp/ws/src/tsid/tests/python/</path>
    <filename>test__Trajectories_8py</filename>
    <namespace>test_Trajectories</namespace>
    <member kind="variable">
      <type></type>
      <name>M_ref</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a2b14d04bdc2930bf89408e79abfb2079</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>M_vec</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a8352bdcf26494902d696b8aa5991847b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>n</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a4e62151c7868eda3d164891eab3b2bf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>ad6333d7fb353a269f339f6b6c0ce1e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>abd51e20f689f38d071e9fa7869659e07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj_euclidian</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a3007056fb5c39e062b6098b2e4344dc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj_sample</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>ac7a21611bdec627f4eee93153c606a1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj_se3</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>af1630315b3d0f9e9741c8c4cc5774618</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>zero</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>ac0a871dfc43880e1cce29fbc11e2ae78</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectories.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>trajectories_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <includes id="trajectories_2trajectory-se3_8hpp" name="trajectories/trajectory-se3.hpp" local="no" imported="no">tsid/trajectories/trajectory-se3.hpp</includes>
    <includes id="trajectories_2trajectory-euclidian_8hpp" name="trajectories/trajectory-euclidian.hpp" local="no" imported="no">tsid/trajectories/trajectory-euclidian.hpp</includes>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>trajectories_8cpp.html</anchorfile>
      <anchor>a9da6472b9ec3c3c6171143a9b7a567c6</anchor>
      <arglist>(test_trajectory_se3)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>trajectories_8cpp.html</anchorfile>
      <anchor>a5b908b10a5114dfb35d7ef5b5b81af60</anchor>
      <arglist>(test_trajectory_euclidian)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory-base.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/trajectories/</path>
    <filename>trajectory-base_8cpp</filename>
    <includes id="bindings_2python_2trajectories_2trajectory-base_8hpp" name="bindings/python/trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/trajectory-base.hpp</includes>
    <includes id="expose-trajectories_8hpp" name="expose-trajectories.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/expose-trajectories.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectorySample</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a321faceb9cbbb744188436319994cc1a</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/trajectories/trajectory-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/trajectories/</path>
    <filename>bindings_2python_2trajectories_2trajectory-base_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="yes" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <class kind="struct">tsid::python::TrajectorySamplePythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a1c7bf49fa6f60d13eb271ea706ecbcb2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectories/trajectory-base.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/trajectories/</path>
    <filename>trajectories_2trajectory-base_8hpp</filename>
    <includes id="macros_8hpp" name="macros.hpp" local="yes" imported="no">tsid/macros.hpp</includes>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <class kind="class">tsid::trajectories::TrajectoryBase</class>
    <class kind="class">tsid::trajectories::TrajectorySample</class>
    <namespace>tsid</namespace>
    <namespace>tsid::trajectories</namespace>
    <member kind="typedef">
      <type>Eigen::Map&lt; const Eigen::Matrix&lt; double, 3, 3 &gt; &gt;</type>
      <name>MapMatrix3</name>
      <anchorfile>namespacetsid_1_1trajectories.html</anchorfile>
      <anchor>ada031368faef270e3ad20f9afc71e515</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/trajectories/trajectory-euclidian.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/trajectories/</path>
    <filename>bindings_2python_2trajectories_2trajectory-euclidian_8cpp</filename>
    <includes id="bindings_2python_2trajectories_2trajectory-euclidian_8hpp" name="bindings/python/trajectories/trajectory-euclidian.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/trajectory-euclidian.hpp</includes>
    <includes id="expose-trajectories_8hpp" name="expose-trajectories.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/expose-trajectories.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectoryEuclidianConstant</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a1aff4f2d3f1ff8cfd2caef833d64d3ff</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/trajectories/trajectory-euclidian.cpp</name>
    <path>/tmp/ws/src/tsid/src/trajectories/</path>
    <filename>src_2trajectories_2trajectory-euclidian_8cpp</filename>
    <includes id="trajectories_2trajectory-euclidian_8hpp" name="trajectories/trajectory-euclidian.hpp" local="no" imported="no">tsid/trajectories/trajectory-euclidian.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::trajectories</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/trajectories/trajectory-euclidian.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/trajectories/</path>
    <filename>bindings_2python_2trajectories_2trajectory-euclidian_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="trajectories_2trajectory-euclidian_8hpp" name="trajectories/trajectory-euclidian.hpp" local="yes" imported="no">tsid/trajectories/trajectory-euclidian.hpp</includes>
    <class kind="struct">tsid::python::TrajectoryEuclidianConstantPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>trajectories/trajectory-euclidian.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/trajectories/</path>
    <filename>trajectories_2trajectory-euclidian_8hpp</filename>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="no" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <class kind="class">tsid::trajectories::TrajectoryEuclidianConstant</class>
    <namespace>tsid</namespace>
    <namespace>tsid::trajectories</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/trajectories/trajectory-se3.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/trajectories/</path>
    <filename>bindings_2python_2trajectories_2trajectory-se3_8cpp</filename>
    <includes id="bindings_2python_2trajectories_2trajectory-se3_8hpp" name="bindings/python/trajectories/trajectory-se3.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/trajectory-se3.hpp</includes>
    <includes id="expose-trajectories_8hpp" name="expose-trajectories.hpp" local="yes" imported="no">tsid/bindings/python/trajectories/expose-trajectories.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectorySE3Constant</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aafabc66d1aa78f3d50dbb92c2038f0c0</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/trajectories/trajectory-se3.cpp</name>
    <path>/tmp/ws/src/tsid/src/trajectories/</path>
    <filename>src_2trajectories_2trajectory-se3_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <includes id="trajectories_2trajectory-se3_8hpp" name="trajectories/trajectory-se3.hpp" local="yes" imported="no">tsid/trajectories/trajectory-se3.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::trajectories</namespace>
  </compound>
  <compound kind="file">
    <name>bindings/python/trajectories/trajectory-se3.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/trajectories/</path>
    <filename>bindings_2python_2trajectories_2trajectory-se3_8hpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="trajectories_2trajectory-se3_8hpp" name="trajectories/trajectory-se3.hpp" local="yes" imported="no">tsid/trajectories/trajectory-se3.hpp</includes>
    <class kind="struct">tsid::python::TrajectorySE3ConstantPythonVisitor</class>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
  </compound>
  <compound kind="file">
    <name>trajectories/trajectory-se3.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/trajectories/</path>
    <filename>trajectories_2trajectory-se3_8hpp</filename>
    <includes id="trajectories_2trajectory-base_8hpp" name="trajectories/trajectory-base.hpp" local="no" imported="no">tsid/trajectories/trajectory-base.hpp</includes>
    <class kind="class">tsid::trajectories::TrajectorySE3Constant</class>
    <namespace>tsid</namespace>
    <namespace>tsid::trajectories</namespace>
  </compound>
  <compound kind="file">
    <name>tsid-formulation.cpp</name>
    <path>/tmp/ws/src/tsid/tests/</path>
    <filename>tsid-formulation_8cpp</filename>
    <includes id="contacts_2contact-6d_8hpp" name="contacts/contact-6d.hpp" local="no" imported="no">tsid/contacts/contact-6d.hpp</includes>
    <includes id="contacts_2contact-point_8hpp" name="contacts/contact-point.hpp" local="no" imported="no">tsid/contacts/contact-point.hpp</includes>
    <includes id="inverse-dynamics-formulation-acc-force_8hpp" name="inverse-dynamics-formulation-acc-force.hpp" local="no" imported="no">tsid/formulations/inverse-dynamics-formulation-acc-force.hpp</includes>
    <includes id="tasks_2task-com-equality_8hpp" name="tasks/task-com-equality.hpp" local="no" imported="no">tsid/tasks/task-com-equality.hpp</includes>
    <includes id="tasks_2task-se3-equality_8hpp" name="tasks/task-se3-equality.hpp" local="no" imported="no">tsid/tasks/task-se3-equality.hpp</includes>
    <includes id="tasks_2task-joint-posture_8hpp" name="tasks/task-joint-posture.hpp" local="no" imported="no">tsid/tasks/task-joint-posture.hpp</includes>
    <includes id="tasks_2task-joint-bounds_8hpp" name="tasks/task-joint-bounds.hpp" local="no" imported="no">tsid/tasks/task-joint-bounds.hpp</includes>
    <includes id="trajectories_2trajectory-euclidian_8hpp" name="trajectories/trajectory-euclidian.hpp" local="no" imported="no">tsid/trajectories/trajectory-euclidian.hpp</includes>
    <includes id="solvers_2utils_8hpp" name="solvers/utils.hpp" local="no" imported="no">tsid/solvers/utils.hpp</includes>
    <includes id="stop-watch_8hpp" name="stop-watch.hpp" local="no" imported="no">tsid/utils/stop-watch.hpp</includes>
    <includes id="statistics_8hpp" name="statistics.hpp" local="no" imported="no">tsid/utils/statistics.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <class kind="class">StandardRomeoInvDynCtrl</class>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_LESS_THAN</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a16e24af0e12a1ff14f853effd1f0ce33</anchor>
      <arglist>(A, B)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_CONTROL_CYCLE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a044c6ffc5801c31aa5f53076288e0742</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_HQP</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>af10f8dd86601e9959c6cee69c155f0f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_HQP_FAST</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a379443a0640dd993cf58d01a07dc6ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_HQP_RT</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a12a848eea7e3e9a64de0fd0122652db0</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PROFILE_PROBLEM_FORMULATION</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>aeedff2ff742fa450ccfa8ed542673e4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>REQUIRE_CONTACT_FINITE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a8caa19e4ba0dba8c9b878a9e0b6bed8c</anchor>
      <arglist>(contact)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>REQUIRE_FINITE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>acf09914116cb7635f2bb156d5e2f067f</anchor>
      <arglist>(A)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>REQUIRE_TASK_FINITE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a821a4f9d3cb71d0dd8b1f824cec2bc63</anchor>
      <arglist>(task)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a90c23fd233d94e323bd90c5d68fca98c</anchor>
      <arglist>(test_invdyn_formulation_acc_force_remove_contact)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a6d0f99e8f8472b1ca0d166f070712872</anchor>
      <arglist>(test_invdyn_formulation_acc_force)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>af3ab73e28abbbdc132627895a3654e41</anchor>
      <arglist>(test_contact_point_invdyn_formulation_acc_force)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BOOST_AUTO_TEST_CASE</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>ad17d6edd43e1fd8d63342fdf8eec85c6</anchor>
      <arglist>(test_invdyn_formulation_acc_force_computation_time)</arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>max_it</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>ad0a830585ef4e7a54f5185e013212e30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const string</type>
      <name>quadruped_model_path</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a2deacf8e2a4da8f43cc6fe8cc29b4ec1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const string</type>
      <name>romeo_model_path</name>
      <anchorfile>tsid-formulation_8cpp.html</anchorfile>
      <anchor>a3b8707638c03334520caf70e3fe008aa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>tsid_biped.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>tsid__biped_8py</filename>
    <class kind="class">tsid_biped::TsidBiped</class>
    <namespace>tsid_biped</namespace>
  </compound>
  <compound kind="file">
    <name>tsid_manipulator.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>tsid__manipulator_8py</filename>
    <class kind="class">tsid_manipulator::TsidManipulator</class>
    <namespace>tsid_manipulator</namespace>
  </compound>
  <compound kind="file">
    <name>ur5_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ur5__conf_8py</filename>
    <namespace>ur5_conf</namespace>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a5df5d9745260b83e05b7adb0bd9b3159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>acf0f1704faa8ef5cd445d6483dda4a73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>afa4c542a320407c403de3f8a9268a0f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a62f6083733abda57c91bc6892f327f64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ee_frame_name</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a7f1ef8384966bf802223ab7425bc9484</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a039f41833955596a30fb255d7e84d572</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a56cd93d000ff4165a826096a110ae67f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>ee_task_local_frame</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>acc8eb9d13ba17569a1614cb7e95d59fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_task_mask</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a886666c3323fff0b6b3a0bcbd0bd98f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_ee</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a94680015b525614396ad7f006af968fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a5dc404e9f505f815aa8d76781fa414dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a72227f0e82ccf6a639ca69d1ac042a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ab9f9690615bb78b7004d49699deb7894</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a9b36356274f66ae1d4318ccaab06669b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>aba330765e639c17d1e7c2e7d563b65e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a4fb02dff9415b474b6e8330ab0c3fedb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a0ad9216ed996165d4b44d82ca7455bbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a4a7a2807177da0c27526118cfc1e4d6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a743afef1a925eeec94002515e33ac648</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>af92375caf3b5fc53dcc67de71378fb4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a73ca508dd1f5973704157a628be25ac5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a3971d5ed3240f2ae0248522ef2e70f27</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ad72fc2e21fd17daea3d41782704ae82b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ad7c2b35461d35ebc4411c05e55c90f05</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ad11593e7aef1ff9ddef74192b3ac5665</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a758878e84f81479bea3ef97c2d1d2fda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a786c048da487fa43f79e831814ee319f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_ee</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a377ac05dc8cc57a85e4e907c53721351</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>af74df4f750789c23e47edc98d8712bdf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>abd316d437e98d0e0175cbec0e9801054</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a895bd780c1a4f67c71c55018e881f02a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ur5_reaching_conf.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>ur5__reaching__conf_8py</filename>
    <namespace>ur5_reaching_conf</namespace>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ac8fd3d8f19037af5eb654ba52b9aa2f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>adc9b5a33d98991921609e7e8ccf4cc1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a5a111164550c5201f4c742b42fa78ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>acc1b59b2956864765c9a7921eb3ac026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ee_frame_name</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a3fcc97e1a5e43e05e649d214d60d6806</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>afbc153d15dfc2fa04bf68490f839533d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a1be773b6007a407a73595073cffe198c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>ee_task_local_frame</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a737cdb03da315dbdf3d8ff8785486d6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_task_mask</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a1bf96da9e099f90011e592fd82d0bb24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_ee</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a380e5ba36739134fb44ae125e6eb5e5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>aaca70d583e28bc369a5ed1b7f3be82a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a54448e034e8a1bfa0a1e994b2af6ffd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ad43a3004ea2695610f4c2ae7b183bf9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>acb4c3eae37dd1433c09432fc147c38a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a5c779e9556aa06e41f8bf915bda88608</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a1e0ad2e4c64653282c91d8765a7ef3ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a61fa00805d50d072c12aceab76d4baf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a4362ec7bf0e7672cf86b0459040aa7a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a5ea868ec84f345b2341dcafde537e962</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a838945ef06bf1aea837e4398f4a704bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a625317feb581d222a22f6974bf1c2aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>afb34a27c6aabe6f1c300ed069a20a895</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a538341a0089108a0405c262386f92508</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a53d8e8f0b8ac056d1ae25bcb3e651058</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a9a55f6227221c209021c961d104f50c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a162a3be6463e2ff2e5897afe04e4249d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ac1fd625de7154a54bbd5836eb4c86e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_ee</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>afadca5c1fa7e5aa45e5eefe157ffaa21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a0bde14cc565720b8457483215ae923ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ac276c9ba674540b3202c2a0ed7e9e496</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a3198085c8714ec045538db0d374ad522</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/math/utils.cpp</name>
    <path>/tmp/ws/src/tsid/bindings/python/math/</path>
    <filename>bindings_2python_2math_2utils_8cpp</filename>
    <includes id="bindings_2python_2fwd_8hpp" name="bindings/python/fwd.hpp" local="yes" imported="no">tsid/bindings/python/fwd.hpp</includes>
    <includes id="bindings_2python_2math_2utils_8hpp" name="bindings/python/math/utils.hpp" local="yes" imported="no">tsid/bindings/python/math/utils.hpp</includes>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="yes" imported="no">tsid/math/utils.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeMathUtils</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa0e79709720893fc88c9373736dbee0f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::Vector</type>
      <name>SE3ToVector_1</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa409bae5d53d9bd5571dbc4d8745cd6c</anchor>
      <arglist>(const pinocchio::SE3 &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::SE3</type>
      <name>vectorToSE3_1</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ac17e994151cad31f2b532f54927f60b8</anchor>
      <arglist>(math::RefVector vec)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/math/utils.cpp</name>
    <path>/tmp/ws/src/tsid/src/math/</path>
    <filename>src_2math_2utils_8cpp</filename>
    <includes id="math_2utils_8hpp" name="math/utils.hpp" local="no" imported="no">tsid/math/utils.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
    <member kind="function">
      <type>void</type>
      <name>dampedPseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a864b70c08f141a1ce48c6f47637e1d1d</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, double dampingFactor, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV, double *nullSpaceBasisOfA=0, int *nullSpaceRows=0, int *nullSpaceCols=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>errorInSE3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac4b4a961a8a25a6b3421ec5cc707da10</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, const pinocchio::SE3 &amp;Mdes, pinocchio::Motion &amp;error)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nullSpaceBasisFromDecomposition</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a14818fc8b11173a09c81906c5449a3fe</anchor>
      <arglist>(const Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, double tolerance, double *nullSpaceBasisMatrix, int &amp;rows, int &amp;cols)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nullSpaceBasisFromDecomposition</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a55769faf54bf74fa25ead7b47de70aac</anchor>
      <arglist>(const Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, int rank, double *nullSpaceBasisMatrix, int &amp;rows, int &amp;cols)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a431996ff5f424ee8429b7468b188d694</anchor>
      <arglist>(ConstRefMatrix A, RefMatrix Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>afc73d553a5b194584f295411acca7d11</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, unsigned int computationOptions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a0f3bce8978d8524882426297017e0db3</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, double *nullSpaceBasisOfA, int &amp;nullSpaceRows, int &amp;nullSpaceCols, unsigned int computationOptions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SE3ToVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>af24527ddde0e25580f82f3a49ab70685</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, RefVector vec)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SE3ToXYZQUAT</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7632d7415bf148e9d7a3bbd372193297</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, RefVector xyzQuat)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveWithDampingFromSvd</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a70348d45c4baf924ec9ecebc548e0066</anchor>
      <arglist>(Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svd, ConstRefVector b, RefVector sol, double damping=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>svdSolveWithDamping</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a1f71310f5be1d0c7acbfd924e65a6b20</anchor>
      <arglist>(ConstRefMatrix A, ConstRefVector b, RefVector sol, double damping=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>vectorToSE3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a42cd55fae57d85c780651a9f26d12931</anchor>
      <arglist>(RefVector vec, pinocchio::SE3 &amp;M)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>src/solvers/utils.cpp</name>
    <path>/tmp/ws/src/tsid/src/solvers/</path>
    <filename>src_2solvers_2utils_8cpp</filename>
    <includes id="solvers_2utils_8hpp" name="solvers/utils.hpp" local="yes" imported="no">tsid/solvers/utils.hpp</includes>
    <includes id="constraint-base_8hpp" name="constraint-base.hpp" local="yes" imported="no">tsid/math/constraint-base.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
    <member kind="function">
      <type>std::string</type>
      <name>HQPDataToString</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>aa82c316a8f2057452aec301f3ac78f47</anchor>
      <arglist>(const HQPData &amp;data, bool printMatrices=false)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>bindings/python/math/utils.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/bindings/python/math/</path>
    <filename>bindings_2python_2math_2utils_8hpp</filename>
    <namespace>tsid</namespace>
    <namespace>tsid::python</namespace>
    <member kind="function">
      <type>void</type>
      <name>exposeMathUtils</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa0e79709720893fc88c9373736dbee0f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>math/utils.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/math/</path>
    <filename>math_2utils_8hpp</filename>
    <includes id="math_2fwd_8hpp" name="math/fwd.hpp" local="yes" imported="no">tsid/math/fwd.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::math</namespace>
    <member kind="define">
      <type>#define</type>
      <name>PRINT_MATRIX</name>
      <anchorfile>math_2utils_8hpp.html</anchorfile>
      <anchor>a866fb9a509aa4aa83ca65c3ad147f924</anchor>
      <arglist>(a)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>PRINT_VECTOR</name>
      <anchorfile>math_2utils_8hpp.html</anchorfile>
      <anchor>a39ceafb3c3fea49afabea731e611b235</anchor>
      <arglist>(a)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::IOFormat</type>
      <name>CleanFmt</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a1d9c51ec27b3c7c9354336cab8585f5b</anchor>
      <arglist>(1, 0, &quot;, &quot;, &quot;\, &quot;[&quot;, &quot;]&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dampedPseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a864b70c08f141a1ce48c6f47637e1d1d</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, double dampingFactor, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV, double *nullSpaceBasisOfA=0, int *nullSpaceRows=0, int *nullSpaceCols=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>errorInSE3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac4b4a961a8a25a6b3421ec5cc707da10</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, const pinocchio::SE3 &amp;Mdes, pinocchio::Motion &amp;error)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>is_nan</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a4104284bf118f1ec3497f71c18230744</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isFinite</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a539f5189545c70c30a9c0415ffabbabc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;x)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::IOFormat</type>
      <name>matlabPrintFormat</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ab9098a471fe2a9a6def50ecac16bcfd0</anchor>
      <arglist>(Eigen::FullPrecision, Eigen::DontAlignCols, &quot; &quot;, &quot;;\, &quot;&quot;, &quot;&quot;, &quot;[&quot;, &quot;];&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nullSpaceBasisFromDecomposition</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a14818fc8b11173a09c81906c5449a3fe</anchor>
      <arglist>(const Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, double tolerance, double *nullSpaceBasisMatrix, int &amp;rows, int &amp;cols)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nullSpaceBasisFromDecomposition</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a55769faf54bf74fa25ead7b47de70aac</anchor>
      <arglist>(const Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, int rank, double *nullSpaceBasisMatrix, int &amp;rows, int &amp;cols)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a431996ff5f424ee8429b7468b188d694</anchor>
      <arglist>(ConstRefMatrix A, RefMatrix Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>afc73d553a5b194584f295411acca7d11</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, unsigned int computationOptions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a0f3bce8978d8524882426297017e0db3</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, double *nullSpaceBasisOfA, int &amp;nullSpaceRows, int &amp;nullSpaceCols, unsigned int computationOptions)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>readMatrixFromFile</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a84c62e8322095426b295ac076834060c</anchor>
      <arglist>(const std::string &amp;filename, const Eigen::MatrixBase&lt; Matrix &gt; &amp;matrix)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SE3ToVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>af24527ddde0e25580f82f3a49ab70685</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, RefVector vec)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SE3ToXYZQUAT</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7632d7415bf148e9d7a3bbd372193297</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, RefVector xyzQuat)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveWithDampingFromSvd</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a70348d45c4baf924ec9ecebc548e0066</anchor>
      <arglist>(Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svd, ConstRefVector b, RefVector sol, double damping=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>svdSolveWithDamping</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a1f71310f5be1d0c7acbfd924e65a6b20</anchor>
      <arglist>(ConstRefMatrix A, ConstRefVector b, RefVector sol, double damping=0.0)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>toString</name>
      <anchorfile>namespacetsid.html</anchorfile>
      <anchor>ae68c6ec00bf7521c85c818fdcfbf1bc6</anchor>
      <arglist>(const T &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>toString</name>
      <anchorfile>namespacetsid.html</anchorfile>
      <anchor>a875c176c9413870d984bdb76a63da1c7</anchor>
      <arglist>(const std::vector&lt; T &gt; &amp;v, const std::string separator=&quot;, &quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>toString</name>
      <anchorfile>namespacetsid.html</anchorfile>
      <anchor>aea419de93a240458469e3bef0f5c3306</anchor>
      <arglist>(const Eigen::MatrixBase&lt; T &gt; &amp;v, const std::string separator=&quot;, &quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>vectorToSE3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a42cd55fae57d85c780651a9f26d12931</anchor>
      <arglist>(RefVector vec, pinocchio::SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>writeMatrixToFile</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a85f09df018d3e01e7da33723b822a15e</anchor>
      <arglist>(const std::string &amp;filename, const Eigen::MatrixBase&lt; Matrix &gt; &amp;matrix)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>solvers/utils.hpp</name>
    <path>/tmp/ws/src/tsid/include/tsid/solvers/</path>
    <filename>solvers_2utils_8hpp</filename>
    <includes id="solvers_2fwd_8hpp" name="solvers/fwd.hpp" local="yes" imported="no">tsid/solvers/fwd.hpp</includes>
    <namespace>tsid</namespace>
    <namespace>tsid::solvers</namespace>
    <member kind="function">
      <type>std::string</type>
      <name>HQPDataToString</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>aa82c316a8f2057452aec301f3ac78f47</anchor>
      <arglist>(const HQPData &amp;data, bool printMatrices=false)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>vizutils.py</name>
    <path>/tmp/ws/src/tsid/exercizes/</path>
    <filename>vizutils_8py</filename>
    <namespace>vizutils</namespace>
    <member kind="function">
      <type>def</type>
      <name>addViewerBox</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>ad02546d5fa5a3e38be70dde8fb190fc8</anchor>
      <arglist>(viz, name, sizex, sizey, sizez, rgba)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>addViewerSphere</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>a7b41048853e9d4696d267401d92e7c6b</anchor>
      <arglist>(viz, name, size, rgba)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>applyViewerConfiguration</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>ade462fd0012945ba91bd4daf01eab071</anchor>
      <arglist>(viz, name, xyzquat)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>meshcat_material</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>a49dc33bc89d7e06430afd06fb73ae5f0</anchor>
      <arglist>(r, g, b, a)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>meshcat_transform</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>a7626a890ba29414829da98b78c67df2e</anchor>
      <arglist>(x, y, z, q, u, a, t)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::aligned_pair</name>
    <filename>classtsid_1_1solvers_1_1aligned__pair.html</filename>
    <templarg>T1</templarg>
    <templarg>T2</templarg>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>aligned_pair</name>
      <anchorfile>classtsid_1_1solvers_1_1aligned__pair.html</anchorfile>
      <anchor>ad8880d58ed9b715334675514a3da492c</anchor>
      <arglist>(const T1 &amp;t1, const T2 &amp;t2)</arglist>
    </member>
    <member kind="variable">
      <type>T1</type>
      <name>first</name>
      <anchorfile>classtsid_1_1solvers_1_1aligned__pair.html</anchorfile>
      <anchor>a4ef727b712a66ace0ae844d2425b51cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>T2</type>
      <name>second</name>
      <anchorfile>classtsid_1_1solvers_1_1aligned__pair.html</anchorfile>
      <anchor>a7041677c613bdfb622246982b31514cf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::ConstPythonVisitor</name>
    <filename>structtsid_1_1python_1_1ConstPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1ConstPythonVisitor.html</anchorfile>
      <anchor>a04af46070dc9cfe79e291fdb46e1dbec</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1ConstPythonVisitor.html</anchorfile>
      <anchor>ad0855c7407c6b704f33857e271f5b755</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::math::ConstraintBase</name>
    <filename>classtsid_1_1math_1_1ConstraintBase.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>checkConstraint</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>aa032c1a1b97d78d387ce73b0e18348e8</anchor>
      <arglist>(ConstRefVector x, double tol=1e-6) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>cols</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a421e5eae01b7f6a08c39addd186b4ce8</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>ConstraintBase</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>add10219442c278e549889caa4d77dbba</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintBase</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a54c260db0de83957f3cea440fd28845e</anchor>
      <arglist>(const std::string &amp;name, const unsigned int rows, const unsigned int cols)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintBase</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a03496798fba6e76b1effa86b47e49c3f</anchor>
      <arglist>(const std::string &amp;name, ConstRefMatrix A)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a6b431a7c4f04bb4264e094e02bfb4d66</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>af3563595b060492a7f5909ef756231b4</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>aa3c7f552753ee4d40f51949347fa523a</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a27943f909bc5d4512821cf8c6c029c39</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a33c912b024ac6a185cba48991ea4b979</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Matrix &amp;</type>
      <name>matrix</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a7c93443ac6f4e84889adb1280c5931e7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Matrix &amp;</type>
      <name>matrix</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>acc5a44f62f6cd7b8b575fdc45d817c55</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const std::string &amp;</type>
      <name>name</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>ac9c66a4cda4f2cbec1b98b2fcee41e99</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a3d4994be956777297c4eedd60220ef28</anchor>
      <arglist>(const unsigned int r, const unsigned int c)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>rows</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a4647bb24415b39499d35eec183e923ae</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>setLowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>afd52671f5b63d2dc4500f33146336d9a</anchor>
      <arglist>(ConstRefVector lb)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setMatrix</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>af5861918854016e7e57302f404217c70</anchor>
      <arglist>(ConstRefMatrix A)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>setUpperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a3fc4e81033f3f0a21975fc96516fe604</anchor>
      <arglist>(ConstRefVector ub)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>setVector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a9e3d3e0d65556382dfeaa199c82fff38</anchor>
      <arglist>(ConstRefVector b)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>aa5f1b7897c7cc2735e2481b8649c2e1f</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>af64905d4ee193c83c17de70aed828de0</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a53edf370b468869b90f5a3529e329601</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>ab79e67734032e85b62de01452ec68ce8</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ConstraintBase</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a4ac3b2efff2a282345b0c986e0d84346</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>m_A</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a31632150ca32b958a901aa15605b722c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBase.html</anchorfile>
      <anchor>a9d72fc823638a2c5722c53d7b5a4e2da</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::math::ConstraintBound</name>
    <filename>classtsid_1_1math_1_1ConstraintBound.html</filename>
    <base>tsid::math::ConstraintBase</base>
    <member kind="function">
      <type>bool</type>
      <name>checkConstraint</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a0220cb48ca084c00f9a14175e4e0eb72</anchor>
      <arglist>(ConstRefVector x, double tol=1e-6) const</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>cols</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a2caa9c902c338dae273968850cf4952e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>ConstraintBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>afa35297b23c19d784c029713fe7b4df4</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a29370d6121fe3b8560f8ded9034b6821</anchor>
      <arglist>(const std::string &amp;name, const unsigned int size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a77f6e9547741d56a24e37b0d37182322</anchor>
      <arglist>(const std::string &amp;name, ConstRefVector lb, ConstRefVector ub)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>aa9f78152b844d450b769790ed651c447</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>abe3898e5f2476564144702eaa235b7e3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a19682628a8a77468663696b9765fb52e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a71b125dd208cf57cd4e8445c76b9f2c3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a7f37e9daf0014de22b3f9557cf61b45b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>ac51e38586a3cd2dc93ba4de17e0f6993</anchor>
      <arglist>(const unsigned int r, const unsigned int c)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>rows</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>abd2701e044dd263237ed3b0831ea1e2c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setLowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>ae0e0ca19b428406c6d3af6948078b85c</anchor>
      <arglist>(ConstRefVector lb)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setUpperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a8100af120760af1cc9dd484982133ccb</anchor>
      <arglist>(ConstRefVector ub)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setVector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a1c7f955700880f4a633ecfe143e6d8b8</anchor>
      <arglist>(ConstRefVector b)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a745d36071aaea8588e877792b4c6bd85</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a8deae605698df1fde2e5911ea032853a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a9875e91b374c332f29e709cda931e3a3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a49659927d73082bacfa08a8375759be2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ConstraintBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a78277d63a235b89559b2ac0d9a2f4e47</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_lb</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>a18b3bb9275dda49b93f6b911b481405c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ub</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintBound.html</anchorfile>
      <anchor>afab62a6fcb693b57f142a876f0e364dc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::ConstraintEqPythonVisitor</name>
    <filename>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</anchorfile>
      <anchor>a444718fd2178ce8db2060dace6600a1b</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</anchorfile>
      <anchor>a586f8b98472fff746b3786b081722d12</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>lowerBound</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</anchorfile>
      <anchor>ac08408e495e7da1227534058e078199c</anchor>
      <arglist>(const ConstraintEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>matrix</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</anchorfile>
      <anchor>af9fcccfe5c62fa7ccfa6641a079e85f2</anchor>
      <arglist>(const ConstraintEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>upperBound</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</anchorfile>
      <anchor>addebaeff447e812411537aeacfd06cf8</anchor>
      <arglist>(const ConstraintEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>vector</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintEqPythonVisitor.html</anchorfile>
      <anchor>a02e5ee68526d70c1e4fa9f24c1431d49</anchor>
      <arglist>(const ConstraintEquality &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::math::ConstraintEquality</name>
    <filename>classtsid_1_1math_1_1ConstraintEquality.html</filename>
    <base>tsid::math::ConstraintBase</base>
    <member kind="function">
      <type>bool</type>
      <name>checkConstraint</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>aa8026e78859a3a09ea71174a699e8bbb</anchor>
      <arglist>(ConstRefVector x, double tol=1e-6) const</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>cols</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>ac3cab120fc490c1aa34b9a7a2998b3cb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a69bc2858ca248b1f71de6d67850b7722</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a12815e172fc6a90d18214bbf8321152e</anchor>
      <arglist>(const std::string &amp;name, const unsigned int rows, const unsigned int cols)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a26cdb44c2e0bdcfb1f2fc8ea4ae1a552</anchor>
      <arglist>(const std::string &amp;name, ConstRefMatrix A, ConstRefVector b)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a353c11d988737e320e00f7256bed6aac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>ac6c307ffde53a61257e440d608c178b8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a7d0fe61c04d79c1f4231825e786e714b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a5858efd543aa090bf76b701237714abc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a198029aa2e052358f742bfb80b53d4f8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a6c580dc38526d7c73baf40649e0411ad</anchor>
      <arglist>(const unsigned int r, const unsigned int c)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>rows</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>ae061d91583fc07f5106b5b8da9e31537</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setLowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>af4f21b18a31efa4060b3b90c8758bb07</anchor>
      <arglist>(ConstRefVector lb)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setUpperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>adb4f5ba2c0031dd26bb99556457b2e9a</anchor>
      <arglist>(ConstRefVector ub)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setVector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a2671173868d9ec64ab019c129cd3db84</anchor>
      <arglist>(ConstRefVector b)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a7dcc48b2961718d399c1b5fe915eb383</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a50d4cff19e4982802c416a2d1b9976d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>aeb1de84d1151287f14f8bb77a08616c7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a9e5c94b6ed013000d21dd3dd5f8eb7d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ConstraintEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>a0bc3c0ddc8572a5e097e065c82f92337</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_b</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintEquality.html</anchorfile>
      <anchor>ad49ff2589338135c0c403c5eca14849f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::ConstraintIneqPythonVisitor</name>
    <filename>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</anchorfile>
      <anchor>aa37a65add79226e957a3e2027895fd82</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</anchorfile>
      <anchor>ad3e5fee367ac98c428cb5ef77037e77b</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>lowerBound</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</anchorfile>
      <anchor>ac7595412aa011f484d8ea200e7e1e867</anchor>
      <arglist>(const ConstraintInequality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>matrix</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</anchorfile>
      <anchor>a17077d1fb4192f74944caddeceb3f3e9</anchor>
      <arglist>(const ConstraintInequality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>upperBound</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</anchorfile>
      <anchor>a5b3c909406ed7ad7f2ae416f5deb6811</anchor>
      <arglist>(const ConstraintInequality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>vector</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintIneqPythonVisitor.html</anchorfile>
      <anchor>a8a329164eaa0bea8ffeae27def8c48cc</anchor>
      <arglist>(const ConstraintInequality &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::math::ConstraintInequality</name>
    <filename>classtsid_1_1math_1_1ConstraintInequality.html</filename>
    <base>tsid::math::ConstraintBase</base>
    <member kind="function">
      <type>bool</type>
      <name>checkConstraint</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a4a3b7238d2e5a12c776d24717f3f5cfd</anchor>
      <arglist>(ConstRefVector x, double tol=1e-6) const</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>cols</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a4ad39122ed503bb9e72629870a88b796</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>aa1ce967d38daa38a815cf8a303424286</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a27779e44f0c9c5aa33c7d5b74644d78a</anchor>
      <arglist>(const std::string &amp;name, const unsigned int rows, const unsigned int cols)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a1824174ba171ee750bb5612280a482bb</anchor>
      <arglist>(const std::string &amp;name, ConstRefMatrix A, ConstRefVector lb, ConstRefVector ub)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a818da940ca80c89a451a0ad06bcd406f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEquality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a2d61ac3b371e0f3719e1141adba719d7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>aae0a80a0ab1d239e4b3a1c7a35e1fe1b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>abe9938f8ca674ea6a49944405cc0148c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>lowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a28e1d6557c1ff16a0a1fb404fce18b56</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>ace273f6019ba9d5e729399837853cb7d</anchor>
      <arglist>(const unsigned int r, const unsigned int c)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>rows</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>adf997dde221033d8c61234031a0ca492</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setLowerBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a270c2960b2ca7caf1bd31ae46ff59123</anchor>
      <arglist>(ConstRefVector lb)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setUpperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a02b94c07fd180c44d32d486ce7f98e4e</anchor>
      <arglist>(ConstRefVector ub)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setVector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>ae5d9dbd642c687c2fdc495d616865fc6</anchor>
      <arglist>(ConstRefVector b)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>ac3f5be2853ad224ab4df6017f0136d42</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>upperBound</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a1dc06da6e1ad271cd455a1b8c1d05598</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a62e4738995a2346334d1572b35a290c2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>vector</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>acf9e72f0b829c3a373cddb9dd814be67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ConstraintInequality</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>acf93acf36d64fb7a98d0c814b3bf99b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_lb</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>acdd34e7aaa00cd46ef1016213398c1b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ub</name>
      <anchorfile>classtsid_1_1math_1_1ConstraintInequality.html</anchorfile>
      <anchor>a2c86206288e4573f950687640a6dd9e4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::python::ConstraintLevels</name>
    <filename>classtsid_1_1python_1_1ConstraintLevels.html</filename>
    <member kind="function">
      <type>void</type>
      <name>append_bound</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>abb6846bda1e0d84a8dd4f5c534bdfaf6</anchor>
      <arglist>(double num, std::shared_ptr&lt; math::ConstraintBound &gt; i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>append_eq</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>ac67fea987f217bf651e045115a1cebe3</anchor>
      <arglist>(double num, std::shared_ptr&lt; math::ConstraintEquality &gt; i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>append_ineq</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>ad99cb0f168300fd0983b6339ba0d5642</anchor>
      <arglist>(double num, std::shared_ptr&lt; math::ConstraintInequality &gt; i)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ConstraintLevels</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>a8b7f09f5c45bcbc3041de4810f12ed69</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ConstraintLevel &amp;</type>
      <name>get</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>ae0089061d5d8cab3124182bdae17d20e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>a556eeb65fea0ebed93d5b648cfd29cf7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ConstraintLevels</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>a6126d848e9bd365010be1ad7741d6aff</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ConstraintLevel</type>
      <name>m_std_const</name>
      <anchorfile>classtsid_1_1python_1_1ConstraintLevels.html</anchorfile>
      <anchor>a720ab92968984f9d49b16dfa5d64be07</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::ConstraintPythonVisitor</name>
    <filename>structtsid_1_1python_1_1ConstraintPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintPythonVisitor.html</anchorfile>
      <anchor>a29d0460b134be59b179c1309c4fadf25</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintPythonVisitor.html</anchorfile>
      <anchor>a1d2c065857db1f5481602af6d9f7cb47</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>lowerBound</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintPythonVisitor.html</anchorfile>
      <anchor>a4dcd80ffc8453d019718b5517b99beaa</anchor>
      <arglist>(const ConstraintBound &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>upperBound</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintPythonVisitor.html</anchorfile>
      <anchor>a79bd87bdfa43121a702288f85f647a12</anchor>
      <arglist>(const ConstraintBound &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>vector</name>
      <anchorfile>structtsid_1_1python_1_1ConstraintPythonVisitor.html</anchorfile>
      <anchor>a6a1f281c6248aa782fb33b1895ea6276</anchor>
      <arglist>(const ConstraintBound &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::contacts::Contact6d</name>
    <filename>classtsid_1_1contacts_1_1Contact6d.html</filename>
    <base>tsid::contacts::ContactBase</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a8d49fa2e0d3265be701b6ca884d5d45c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstraintInequality</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a003bd612ce2395be9361ec2fb52e9d57</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ae24ef7ae6356e57f42a4c75bceecdec8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix3x</type>
      <name>Matrix3x</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ac70cc15fc3cade671384429bde389b31</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a9b1a9e9ea9835f16f82f4562afc3d4bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskSE3Equality</type>
      <name>TaskSE3Equality</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>aa0d0ee5bab863df6b63b87d4e6c2bfb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>af176d62aca47d22267b3ae34d2e1a2d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ad9b304a598d50e05d50b4323ccd22f48</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector6</type>
      <name>Vector6</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>aa9371304aad7b9b7e21a18a380c3bfb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const ConstraintEquality &amp;</type>
      <name>computeForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a02b96dff8b170004b2e33d94b0383554</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, const Data &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const ConstraintInequality &amp;</type>
      <name>computeForceTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>aa096fa75741747c5b32697e17be909ee</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, const Data &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const ConstraintBase &amp;</type>
      <name>computeMotionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>aaa8de7ffdaf0044afb3059273b892f0d</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Contact6d</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a79bcbb268fcd88fd300a29cbe27146f8</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const std::string &amp;frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce)</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED</type>
      <name>Contact6d</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a143ff22b8a51ddc0047d5fa1531778e2</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const std::string &amp;frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce, const double forceRegWeight)</arglist>
    </member>
    <member kind="function">
      <type>const Matrix3x &amp;</type>
      <name>getContactPoints</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>affe85140df7162a8dfaffec777954acd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintInequality &amp;</type>
      <name>getForceConstraint</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>af0f86f47aafcef79823f668d91ec303f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Matrix &amp;</type>
      <name>getForceGeneratorMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a81db1ead9ff917c3c049d391f23df98a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintEquality &amp;</type>
      <name>getForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a00a0f927cbed9274e482d9dc51629958</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMaxNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a91f2d131e4f50ce8b4a132618898c853</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMinNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a616d4acd53b87d1add8da53cd12a1c63</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getMotionConstraint</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a3394793e4917cc090ac530765f9ea099</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TaskSE3Equality &amp;</type>
      <name>getMotionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>af6e1e43f35fde2e1f28ad4764fca5cb6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>af9548cc32926a808da643db3c966b31d</anchor>
      <arglist>(ConstRefVector f) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a934ba4872126ae996b4bdc26a3dae050</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ab67388907962519b60a1582d10b78d07</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a2fd955dbe3e4954de3f691166d545984</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ac524f258f8098d7b59d22cd1d1119554</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual unsigned int</type>
      <name>n_force</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a5c3c29a8fd6918d5ef61c2a13d01667e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual unsigned int</type>
      <name>n_motion</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a98aeaed9069458173f78004acf00ce15</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setContactNormal</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a052b14254c8eb5f87490d093009897b7</anchor>
      <arglist>(ConstRefVector contactNormal)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setContactPoints</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>af7336ab15be07b3ae92a9fffe70deaac</anchor>
      <arglist>(ConstRefMatrix contactPoints)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setForceReference</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a1d9aef18b658154e737de621af359e3f</anchor>
      <arglist>(ConstRefVector &amp;f_ref)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setFrictionCoefficient</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a530c334514ddb19a1c204bb5dd22d7f4</anchor>
      <arglist>(const double frictionCoefficient)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMaxNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ad94b6bbaf1ef4be6bd09c9ea88b54366</anchor>
      <arglist>(const double maxNormalForce)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMinNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a14f433d1f1083dc040b61707f0a6a1bd</anchor>
      <arglist>(const double minNormalForce)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a6c1a85fded9b1040ba11bef8c161fcb2</anchor>
      <arglist>(const SE3 &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRegularizationTaskWeightVector</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>acc1857c79a00d2181806e01efa4697a2</anchor>
      <arglist>(ConstRefVector &amp;w)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Contact6d</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a31ab4cdd928cc4c1779ee42456b7d5db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ad06346fae1e32b0e7f132e149790e576</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateForceGeneratorMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a827652bb707008099a0f8c13419d03ba</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateForceInequalityConstraints</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ac6837826117ff65b761ed5f7aba543dd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a3b21dbe8f561d426da64adf42fbe285a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_contactNormal</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a21ef822fd708537ac6c40da2de458531</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix3x</type>
      <name>m_contactPoints</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a1dcc26e36cedee0547078af5b8d246aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_fMax</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a400d33532b5616cd8b9e1486aaa74ae7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_fMin</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>abd9a21ff18cf4d5bc436468a92b22ffd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>m_forceGenMat</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a6df63a9b85513fe9ca836584831bb5f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintInequality</type>
      <name>m_forceInequality</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a3dc3ed3bfff33ece9e7c579566456379</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_forceRegTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a7214034f79e237b64fd056e808b6ca69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_fRef</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a22ed9efd84956ca9a1738edbb241345f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TaskSE3Equality</type>
      <name>m_motionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>aa2521bf43b1517f796677b6fdc00a50b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_mu</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a7351c65fbe1488fade49ab8e78dbe107</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_weightForceRegTask</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>a840913df381efd06a56bc0303537f61d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>init</name>
      <anchorfile>classtsid_1_1contacts_1_1Contact6d.html</anchorfile>
      <anchor>ae7cb88ff1e871ae02813ea3e3a8d4fdf</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::Contact6DPythonVisitor</name>
    <filename>structtsid_1_1python_1_1Contact6DPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>ad0d0fc1aaa86f05efc0c6c6d0a81f2f9</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>computeForceRegularizationTask</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>aba65b637bf4aeabaf51eb8cccc08755c</anchor>
      <arglist>(Contact6d &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintInequality</type>
      <name>computeForceTask</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>aaced3b902994714646db062035da3c9a</anchor>
      <arglist>(Contact6d &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>computeMotionTask</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a9c0ecd448e8037a381bc79d8065c0c07</anchor>
      <arglist>(Contact6d &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a180f8cbf8f0db4df0a5942698333ba37</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::MatrixXd &amp;</type>
      <name>getForceGeneratorMatrix</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a8871c54992b83271db84983b159a0fce</anchor>
      <arglist>(Contact6d &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static tsid::tasks::TaskSE3Equality</type>
      <name>getMotionTask</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a8a85b3cad0d7c1f95ab2da3ebc27714e</anchor>
      <arglist>(Contact6d &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>getNormalForce</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>acf36f3c3f3b998fc98b019ac6e058113</anchor>
      <arglist>(Contact6d &amp;self, Eigen::VectorXd f)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a9f60bb68e9598fc1099f03470861173f</anchor>
      <arglist>(Contact6d &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a4538394596824e323e7e21f32b86269e</anchor>
      <arglist>(Contact6d &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a7acb9fa8140054d3523e1955ccc0e80c</anchor>
      <arglist>(Contact6d &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setContactNormal</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a19f42c5493b784388585f0a3d22432c3</anchor>
      <arglist>(Contact6d &amp;self, const ::Eigen::VectorXd contactNormal)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setContactPoints</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>ae579a3dc6a231956eba2c4777df81989</anchor>
      <arglist>(Contact6d &amp;self, const ::Eigen::MatrixXd contactpoints)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setForceReference</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a959bf0a0a693e60ea63254b8a3bc667b</anchor>
      <arglist>(Contact6d &amp;self, const ::Eigen::VectorXd f_ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setFrictionCoefficient</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>aeec60e39afd04643954ebfdc60b11f14</anchor>
      <arglist>(Contact6d &amp;self, const double frictionCoefficient)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a17462223aea9eb08eae850c74b65e11e</anchor>
      <arglist>(Contact6d &amp;self, const ::Eigen::VectorXd Kd)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a62d2541f24496dc414a4a16ae8ba53f0</anchor>
      <arglist>(Contact6d &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setMaxNormalForce</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a2b2c8a0392b9228f97894f4e68fefe8c</anchor>
      <arglist>(Contact6d &amp;self, const double maxNormalForce)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setMinNormalForce</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>aaa9ce34dac8fce4c39d98e0525ea2929</anchor>
      <arglist>(Contact6d &amp;self, const double minNormalForce)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>ac23c338c72e01e49f446c980e74568da</anchor>
      <arglist>(Contact6d &amp;self, const pinocchio::SE3 &amp;ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setRegularizationTaskWeightVector</name>
      <anchorfile>structtsid_1_1python_1_1Contact6DPythonVisitor.html</anchorfile>
      <anchor>a0edd7f5069367691c66278694d521c6a</anchor>
      <arglist>(Contact6d &amp;self, const ::Eigen::VectorXd w)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::contacts::ContactBase</name>
    <filename>classtsid_1_1contacts_1_1ContactBase.html</filename>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a166a7c9d9a8024e23dd8bc8372b0ab56</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstraintInequality</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>afccc19458fe59c7e3e9929e5ad17f8ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>aa42b7bdb371fe27cbcb02a7fd7e6cb7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>ae34b74c23a852ec702fd0b48c2b41199</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>acfe7c82ecf7486db8a9a397c90abf928</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix3x</type>
      <name>Matrix3x</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a24982dcaeb51d68cea0b02547df81862</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>robots::RobotWrapper</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>af498b6edaba9a91a2fbd7ed7adf2963f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskSE3Equality</type>
      <name>TaskSE3Equality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a78b442dae66148cd60f1d4324dd23636</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintEquality &amp;</type>
      <name>computeForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a04fa02b4637800711f2c37808425ef68</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, const Data &amp;data)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintInequality &amp;</type>
      <name>computeForceTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a3282250087445d9566969603dee155cc</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, const Data &amp;data)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintBase &amp;</type>
      <name>computeMotionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a87dd0737a5b9ffc6ba8bb45b8637160a</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ContactBase</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>abadd4186fc5abe1c9013b50729eae142</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Matrix3x &amp;</type>
      <name>getContactPoints</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a34b01b361ac5a00e55e51d39d97f0606</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintInequality &amp;</type>
      <name>getForceConstraint</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>ae7d80fb93ab8ef872535fcac5c484777</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Matrix &amp;</type>
      <name>getForceGeneratorMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a6fc3acc2a919142ec985cc81b247c0a7</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintEquality &amp;</type>
      <name>getForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>af2cd60460a0c7e2e563ca618a2de2a4b</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getMaxNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a00442b1d24aef0b061ddfaa72888c807</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getMinNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>ab18e7fb5c5628c6765256fa22e084253</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintBase &amp;</type>
      <name>getMotionConstraint</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>ac66b1c4d1e55096576892b11023caeb9</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const TaskSE3Equality &amp;</type>
      <name>getMotionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>aff3aedb6f648bc507e8fa4cd413f88c4</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a1d32db52a5ef83b397dd61802678175f</anchor>
      <arglist>(ConstRefVector f) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>n_force</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a1c21f1c1f8b1867d5bb88e6c2a464dde</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>n_motion</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>ac64aaeda3d9ad014c929826d3f09cd1e</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type>const std::string &amp;</type>
      <name>name</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a5dcea81372682040a983e97b09bea38f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>name</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a90c90d98aa2b05e4193cd0d48a5bbf14</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>setMaxNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a0723d16f886d6101a0da1e8d5e32b1f7</anchor>
      <arglist>(const double maxNormalForce)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>setMinNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>af01d1e9ce4482982a26f081fcd9d439e</anchor>
      <arglist>(const double minNormalForce)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ContactBase</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a8720d3166891aea58bbb1365e6a37386</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase</type>
      <name>ConstraintBase</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>af67df328f4071115dd76a6ba9deb8a9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>acee5ac22c9d7bf2140b7f54af53cffc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RobotWrapper &amp;</type>
      <name>m_robot</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactBase.html</anchorfile>
      <anchor>a1477796202ed681b2da81f3f586ae8dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::ContactLevel</name>
    <filename>structtsid_1_1ContactLevel.html</filename>
    <member kind="function">
      <type></type>
      <name>ContactLevel</name>
      <anchorfile>structtsid_1_1ContactLevel.html</anchorfile>
      <anchor>a3c048a1cca0170faeda2a0dccc77fe90</anchor>
      <arglist>(contacts::ContactBase &amp;contact)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::ContactBase &amp;</type>
      <name>contact</name>
      <anchorfile>structtsid_1_1ContactLevel.html</anchorfile>
      <anchor>a5cc5e12f5c726d2a3fc486886b68427d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; math::ConstraintInequality &gt;</type>
      <name>forceConstraint</name>
      <anchorfile>structtsid_1_1ContactLevel.html</anchorfile>
      <anchor>a5f1dd9a9ca8c311e5e1146d7c0cac971</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; math::ConstraintEquality &gt;</type>
      <name>forceRegTask</name>
      <anchorfile>structtsid_1_1ContactLevel.html</anchorfile>
      <anchor>afdb453b0a49b05371566ded532be0449</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>index</name>
      <anchorfile>structtsid_1_1ContactLevel.html</anchorfile>
      <anchor>ab98a31808419e4f76cb0cce5f9fba185</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; math::ConstraintBase &gt;</type>
      <name>motionConstraint</name>
      <anchorfile>structtsid_1_1ContactLevel.html</anchorfile>
      <anchor>aceb5f9505195950def50284705706936</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::contacts::ContactPoint</name>
    <filename>classtsid_1_1contacts_1_1ContactPoint.html</filename>
    <base>tsid::contacts::ContactBase</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a6c40115df6c210d97c44616d8cd898e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstraintInequality</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a33fc8991d90acee13eae01419a648baf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>aa216080ef49cdbae8558deca58413c41</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix3x</type>
      <name>Matrix3x</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a8e31977794e090f063b2cc97a080948d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a0bb6b3d160a05d672afc5e7935c6c976</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskSE3Equality</type>
      <name>TaskSE3Equality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a99aa1c8c430a922c35f0090503ff17f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a7d3537f3f256c57dd1078d73a0cacc1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a975b48ebbadd23ca24e632097180ee52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector6</type>
      <name>Vector6</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a672d8f0353fc3ec06af52233e7e7003a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const ConstraintEquality &amp;</type>
      <name>computeForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a9440fc653e8ec21846244c1a92a0ffd4</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, const Data &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const ConstraintInequality &amp;</type>
      <name>computeForceTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a34e427e58fec6a01c5368b8cb023ad80</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, const Data &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const ConstraintBase &amp;</type>
      <name>computeMotionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a6ae2db304fe67ad0fabeb0813c458c0f</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ContactPoint</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a31a9e1ced804d1ee6333a57a36b7cf22</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const std::string &amp;frameName, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce)</arglist>
    </member>
    <member kind="function">
      <type>const Matrix3x &amp;</type>
      <name>getContactPoints</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a1fb9978a2a2770f1c57dcb5e1354374e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintInequality &amp;</type>
      <name>getForceConstraint</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>abd909b600a3a41a0d2814a0eba2ce342</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Matrix &amp;</type>
      <name>getForceGeneratorMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a83155f2e87cee1a045dcb5a34657c0db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintEquality &amp;</type>
      <name>getForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a180ff548ca4faf32979ec88c85998bed</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMaxNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a2cdcc31cc0323212328e982d3e57b5d8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMinNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a651eb1b445cf5abbcf06b77278cc27e0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getMotionConstraint</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>adba43646cf6348162492e9a9307c0403</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TaskSE3Equality &amp;</type>
      <name>getMotionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>aaa7aa3555d7b154e1a10dc8668218028</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMotionTaskWeight</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>ab14ed4cc5e21fe3f048e3bc3f28e3dd7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a766eec15e0a2b2cd51d63a66ad354a2e</anchor>
      <arglist>(ConstRefVector f) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a7fe07c8da8ace8918f7e447460b99098</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a9f85015e9b18bc4f816b16d75fb60157</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>aa595f681d1b1181aa5f4127d4c71e7be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>adfb1a6c20e7865b4c0456d7d616c7ed4</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual unsigned int</type>
      <name>n_force</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a39cec37b6bef2db6a616262a85154cec</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual unsigned int</type>
      <name>n_motion</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a0611b33885fc4abb7b1ce20a2c814e63</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setContactNormal</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>aa5e3e7b2ee84bece20837791167f7286</anchor>
      <arglist>(ConstRefVector contactNormal)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setForceReference</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a8b0f8161876c00145c02461341f61454</anchor>
      <arglist>(ConstRefVector &amp;f_ref)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setFrictionCoefficient</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a8707d205da28f0514c2538160775993b</anchor>
      <arglist>(const double frictionCoefficient)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMaxNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a71d86c55ca2bbabb332ee2601756042d</anchor>
      <arglist>(const double maxNormalForce)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMinNormalForce</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a73dd840c87f49c43af47ed0e651e9246</anchor>
      <arglist>(const double minNormalForce)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMotionTaskWeight</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>ae7448b0cdfb1f16209971e4f5f23dfb5</anchor>
      <arglist>(const double w)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a87bc26ffd0e0f1a11aa6276e3f57889c</anchor>
      <arglist>(const SE3 &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRegularizationTaskWeightVector</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>add3f810e267e083cdb8608b588e709a1</anchor>
      <arglist>(ConstRefVector &amp;w)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useLocalFrame</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a1f2d1e1946b4df29d3a1dcf5b5fd350c</anchor>
      <arglist>(bool local_frame)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ContactPoint</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a3920c4318a61c025a501d10700c44ca6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a9085d5ba471e81f82f1a916b4a59ddd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateForceGeneratorMatrix</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a391dc89bcbc2e9abbd8736b7af1dc5ee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateForceInequalityConstraints</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a3d6e546e3c7c58e4c83339dbe67a8355</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateForceRegularizationTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a40be490e243789087835d2bb6aa3dc24</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_contactNormal</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a63c1a1e031a47340f34d45e02f6e03ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix3x</type>
      <name>m_contactPoints</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a04a54436d492a0e86d3a3f4e9af10a84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_fMax</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a912ae21c32dbf1d7a02eda62afd85372</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_fMin</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a2c41f75c38d607a28fb460194816519e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>m_forceGenMat</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a9913d3648345e9a88f6d3546890cc22d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintInequality</type>
      <name>m_forceInequality</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a23e247f18a10b42cdbe824e698a290e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_forceRegTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>ab8ea432d50931d277bfbee982b3cb472</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_fRef</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a2ced748a9c713d1b7ab2ac543703abee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kd3</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a183110dfd26179a9ea3eb63045b9ad8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kp3</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a7c2f42cc48ba701d6f3f2796f9868fb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TaskSE3Equality</type>
      <name>m_motionTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>ab4a8dcca766d743532d3dac0db99935b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_motionTaskWeight</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a598a5f81b8188f0de9ec77d7f6ff390d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_mu</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a7eac9111725a96a2eebb47e72b70e464</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_regularizationTaskWeight</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>ab3405f554600db135a3ccd10b847a3fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_weightForceRegTask</name>
      <anchorfile>classtsid_1_1contacts_1_1ContactPoint.html</anchorfile>
      <anchor>a9361053e50794513f517030301219b82</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::ContactPointPythonVisitor</name>
    <filename>structtsid_1_1python_1_1ContactPointPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>ad848b084bd2e9a8046a6d62c18be434e</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>computeForceRegularizationTask</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>aff40f0ccfa3f24ab0dab2a6a34cd60d3</anchor>
      <arglist>(ContactPoint &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintInequality</type>
      <name>computeForceTask</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a4f8b04fe4203dea7afa9b831e07f6e6c</anchor>
      <arglist>(ContactPoint &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>computeMotionTask</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a50041fa2142fc38d1349050382d4f0ec</anchor>
      <arglist>(ContactPoint &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a61e5c516159757e517cbcc8f81f32737</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::MatrixXd &amp;</type>
      <name>getForceGeneratorMatrix</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a60803c31759ff9dcdb43cd284657d80a</anchor>
      <arglist>(ContactPoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>getNormalForce</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a6321f20a8b474133480150d792f05fb4</anchor>
      <arglist>(ContactPoint &amp;self, Eigen::VectorXd f)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a38a510e76af2f259905ca5fd36716dfb</anchor>
      <arglist>(ContactPoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a27c2a46bd0f5acff9021eed5fe25636e</anchor>
      <arglist>(ContactPoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a2ae7b97bccc73b55f0b6306b14872f2d</anchor>
      <arglist>(ContactPoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setContactNormal</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a28bb93b735b1252671a0b7d1cbb19cae</anchor>
      <arglist>(ContactPoint &amp;self, const ::Eigen::VectorXd contactNormal)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setContactPoints</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>ac317ea22214c83d1aaddd9203520faee</anchor>
      <arglist>(ContactPoint &amp;self, const ::Eigen::MatrixXd contactpoints)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setForceReference</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a39c4cd758af1bdfcf01d32488bb30c62</anchor>
      <arglist>(ContactPoint &amp;self, const ::Eigen::VectorXd f_ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setFrictionCoefficient</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a290304943a519164371e43f759b8904e</anchor>
      <arglist>(ContactPoint &amp;self, const double frictionCoefficient)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>af8826bb95e55b480bb06bc9a20040f51</anchor>
      <arglist>(ContactPoint &amp;self, const ::Eigen::VectorXd Kd)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a652e910fb9081de5c4186bf9939021b9</anchor>
      <arglist>(ContactPoint &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setMaxNormalForce</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a2c6ca480f877b2e58b394b3baeea59f8</anchor>
      <arglist>(ContactPoint &amp;self, const double maxNormalForce)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>setMinNormalForce</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a6e07d84a4c517f50b69adacef9d8dbb9</anchor>
      <arglist>(ContactPoint &amp;self, const double minNormalForce)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>a4d16961e980b4f7c7b27b724efe4c615</anchor>
      <arglist>(ContactPoint &amp;self, const pinocchio::SE3 &amp;ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setRegularizationTaskWeightVector</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>ac3e545d8f5bf574d46b67f35437ffb13</anchor>
      <arglist>(ContactPoint &amp;self, const ::Eigen::VectorXd w)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>useLocalFrame</name>
      <anchorfile>structtsid_1_1python_1_1ContactPointPythonVisitor.html</anchorfile>
      <anchor>ab4db7573fdc0079ffdf319554eb863fb</anchor>
      <arglist>(ContactPoint &amp;self, const bool local_frame)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::ContactTransitionInfo</name>
    <filename>classtsid_1_1ContactTransitionInfo.html</filename>
    <member kind="variable">
      <type>std::shared_ptr&lt; ContactLevel &gt;</type>
      <name>contactLevel</name>
      <anchorfile>classtsid_1_1ContactTransitionInfo.html</anchorfile>
      <anchor>abfaa0d51b9fe3ce37eb1b8451646e3c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>fMax_end</name>
      <anchorfile>classtsid_1_1ContactTransitionInfo.html</anchorfile>
      <anchor>a7e951a1dc688e060051a501f1bddb3ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>fMax_start</name>
      <anchorfile>classtsid_1_1ContactTransitionInfo.html</anchorfile>
      <anchor>a3894dc1e24f3e90be6255e0ee4b7aa90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>time_end</name>
      <anchorfile>classtsid_1_1ContactTransitionInfo.html</anchorfile>
      <anchor>aeeef9d3e7c0999286305c733a247c432</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW double</type>
      <name>time_start</name>
      <anchorfile>classtsid_1_1ContactTransitionInfo.html</anchorfile>
      <anchor>a08b72d6fc562adcfe40005dcd4097997</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>test_Deprecations::DeprecationTest</name>
    <filename>classtest__Deprecations_1_1DeprecationTest.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_trajectory</name>
      <anchorfile>classtest__Deprecations_1_1DeprecationTest.html</anchorfile>
      <anchor>a3c2216add8d6dbe7663ac0a85e3cfb90</anchor>
      <arglist>(self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ex_3_biped_balance_with_gui::Entry3d</name>
    <filename>classex__3__biped__balance__with__gui_1_1Entry3d.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classex__3__biped__balance__with__gui_1_1Entry3d.html</anchorfile>
      <anchor>a735139fc4930be5969c7e937fc1bf51a</anchor>
      <arglist>(self, master, name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get</name>
      <anchorfile>classex__3__biped__balance__with__gui_1_1Entry3d.html</anchorfile>
      <anchor>a9f02a0433dd588f026acbaf69d4f7bb9</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>classex__3__biped__balance__with__gui_1_1Entry3d.html</anchorfile>
      <anchor>ad0300841b13ee7d64b671328edde62ec</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::python::HQPDatas</name>
    <filename>classtsid_1_1python_1_1HQPDatas.html</filename>
    <member kind="function">
      <type>void</type>
      <name>append_helper</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>a5b4a7552a05bd8cfe0b4bdfb5b8c5628</anchor>
      <arglist>(ConstraintLevels *cons)</arglist>
    </member>
    <member kind="function">
      <type>HQPData &amp;</type>
      <name>get</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>ac1793f7a55e5229adbcb590fad65bf19</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HQPDatas</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>a78fe906dd82af47299e02e08d6a599aa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>acf26bd83c92874314da58929014a0364</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>aee363f17f4dba581251821c1b5fee4ca</anchor>
      <arglist>(size_t i)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>set</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>a4f45a143b066c49de6bfcbf03a9e9a5e</anchor>
      <arglist>(const HQPData &amp;data)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~HQPDatas</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>a966e40747a07a62d9f0a43a1daa467b8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>HQPData</type>
      <name>m_std_hqp</name>
      <anchorfile>classtsid_1_1python_1_1HQPDatas.html</anchorfile>
      <anchor>a819b0c5aa595833db5b0ca880b14bff7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::HQPOutput</name>
    <filename>classtsid_1_1solvers_1_1HQPOutput.html</filename>
    <member kind="typedef">
      <type>math::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a1a13ee8fa7c643200c59bae9497856a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HQPOutput</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a0d1ae1f9c002d897a7eab717d5d7d5a7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HQPOutput</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a4ee35e5bf37e4ff061240cdbe2f87777</anchor>
      <arglist>(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a7482a4b7562de2cdce9e29e56ab41618</anchor>
      <arglist>(unsigned int nVars, unsigned int nEqCon, unsigned int nInCon)</arglist>
    </member>
    <member kind="variable">
      <type>VectorXi</type>
      <name>activeSet</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a2561c165e908b5fb0a00a5a5cc7c0032</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>iterations</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>ace31fdeb4a628b296f9f4f60f2615365</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>lambda</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a70634b91e40cc7e63f692b5da9d744e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>HQPStatus</type>
      <name>status</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>a10964a547405953eef4016491480c7c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>adf893e21301b727d2a0e8a85af40f75d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>x</name>
      <anchorfile>classtsid_1_1solvers_1_1HQPOutput.html</anchorfile>
      <anchor>ab60bff668d23c45018c8f2e208d3673d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::HQPOutputPythonVisitor</name>
    <filename>structtsid_1_1python_1_1HQPOutputPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1HQPOutputPythonVisitor.html</anchorfile>
      <anchor>a9b42f5f46e3ba5c16304ca473c9f553a</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1HQPOutputPythonVisitor.html</anchorfile>
      <anchor>a63323081804d92f08ee43820df3c6bba</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>status</name>
      <anchorfile>structtsid_1_1python_1_1HQPOutputPythonVisitor.html</anchorfile>
      <anchor>a739ebc6e6d1b00789e04e86db834f4a3</anchor>
      <arglist>(const T &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>x</name>
      <anchorfile>structtsid_1_1python_1_1HQPOutputPythonVisitor.html</anchorfile>
      <anchor>ae41f51b7eac338b1e7e9d8fb2cbaa6a9</anchor>
      <arglist>(const T &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::HQPPythonVisitor</name>
    <filename>structtsid_1_1python_1_1HQPPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1HQPPythonVisitor.html</anchorfile>
      <anchor>ae24ee34ef4740739500f4286152da9a9</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1HQPPythonVisitor.html</anchorfile>
      <anchor>af4a1de1fe43b37d35a5963cfac57c541</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::InvDynPythonVisitor</name>
    <filename>structtsid_1_1python_1_1InvDynPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a1106fc9c325010205070c1c3ebb18aee</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addActuationTask_Bounds</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a22745c8a0b032afd46328083297cd11b</anchor>
      <arglist>(T &amp;self, tasks::TaskActuationBounds &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addForceTask_COP</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>aabaa3aa4b3625dd3df5c24c3df45a0ab</anchor>
      <arglist>(T &amp;self, tasks::TaskCopEquality &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addMotionTask_AM</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>aabcd82d134d67796ce8b60f123ced5df</anchor>
      <arglist>(T &amp;self, tasks::TaskAMEquality &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addMotionTask_COM</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ae121fa1e291d412f8d99c02bedec319e</anchor>
      <arglist>(T &amp;self, tasks::TaskComEquality &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addMotionTask_Joint</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a8620556eb8a089539719abe7ce10de3b</anchor>
      <arglist>(T &amp;self, tasks::TaskJointPosture &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addMotionTask_JointBounds</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a1acc1381ef1aa761fff1587a8445cc93</anchor>
      <arglist>(T &amp;self, tasks::TaskJointBounds &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addMotionTask_JointPosVelAccBounds</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ad630e807e62dba02c668f1092658e7f2</anchor>
      <arglist>(T &amp;self, tasks::TaskJointPosVelAccBounds &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addMotionTask_SE3</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a8a4f3f5c3af5eff5ad8d024205c769fd</anchor>
      <arglist>(T &amp;self, tasks::TaskSE3Equality &amp;task, double weight, unsigned int priorityLevel, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addRigidContact6d</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a40740fa3f2149a31b57eb52c875f06ff</anchor>
      <arglist>(T &amp;self, contacts::Contact6d &amp;contact, double force_regularization_weight)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addRigidContact6dDeprecated</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a325471825636a90fbaea246b830ccc20</anchor>
      <arglist>(T &amp;self, contacts::Contact6d &amp;contact)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addRigidContact6dWithPriorityLevel</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ac5af057d93fda45cf19f403fa938d4cf</anchor>
      <arglist>(T &amp;self, contacts::Contact6d &amp;contact, double force_regularization_weight, double motion_weight, const bool priority_level)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addRigidContactPoint</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>aa915253e0e1af4f8ac467a51a468b1ab</anchor>
      <arglist>(T &amp;self, contacts::ContactPoint &amp;contact, double force_regularization_weight)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>addRigidContactPointWithPriorityLevel</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>aade2d737c0c2be0e8782fe101d540c6e</anchor>
      <arglist>(T &amp;self, contacts::ContactPoint &amp;contact, double force_regularization_weight, double motion_weight, const bool priority_level)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>checkContact</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a101c35b8ebf2ea5a320dc310a7984ebb</anchor>
      <arglist>(T &amp;self, const std::string &amp;name, const solvers::HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static HQPDatas</type>
      <name>computeProblemData</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>af9ab00e2cd2afd3444193c207ae1a729</anchor>
      <arglist>(T &amp;self, double time, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Data</type>
      <name>data</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ae880d4d0568ceefd3a16b2220e635020</anchor>
      <arglist>(T &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>aed0d2ab8b47def58a6d1d21cd73fed56</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getAccelerations</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ae5d82d5233c5e227c07549abe6389cc6</anchor>
      <arglist>(T &amp;self, const solvers::HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getActuatorForces</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ae894857f8cce51acc2f67305463397cf</anchor>
      <arglist>(T &amp;self, const solvers::HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getContactForce</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a5476ad06e1ffee5de3dd6bc366bc8345</anchor>
      <arglist>(T &amp;self, const std::string &amp;name, const solvers::HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getContactForces</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ab6b1d800f89a4c4845e22d13e5a21580</anchor>
      <arglist>(T &amp;self, const solvers::HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>removeFromHqpData</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>aa643628bd3c461e69bdf2cecd2fbdfbf</anchor>
      <arglist>(T &amp;self, const std::string &amp;constraintName)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>removeRigidContact</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a45a3ab59f696684b59666c6c4170beb9</anchor>
      <arglist>(T &amp;self, const std::string &amp;contactName, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>removeTask</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>ab30a11766595543097bc4a40c187404c</anchor>
      <arglist>(T &amp;self, const std::string &amp;task_name, double transition_duration)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>updateRigidContactWeights</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a27834e58709d010280a4b8b04b9fd858</anchor>
      <arglist>(T &amp;self, const std::string &amp;contact_name, double force_regularization_weight)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>updateRigidContactWeightsWithMotionWeight</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a1fbfc23358cd41272f939d93f51df0b8</anchor>
      <arglist>(T &amp;self, const std::string &amp;contact_name, double force_regularization_weight, double motion_weight)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>updateTaskWeight</name>
      <anchorfile>structtsid_1_1python_1_1InvDynPythonVisitor.html</anchorfile>
      <anchor>a3746dd11c67d67ee775afa46886635ba</anchor>
      <arglist>(T &amp;self, const std::string &amp;task_name, double weight)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::InverseDynamicsFormulationAccForce</name>
    <filename>classtsid_1_1InverseDynamicsFormulationAccForce.html</filename>
    <base>tsid::InverseDynamicsFormulationBase</base>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a6ecf291f1e464a7a015bcb6a51043853</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>solvers::HQPOutput</type>
      <name>HQPOutput</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a8b1719c9c54cbc8c6569f5b7fbfec372</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a3facd987ead30903d571d7ebf2401a99</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>contacts::MeasuredForceBase</type>
      <name>MeasuredForceBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>aae0b21b2a027b16bc962689738f635a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskActuation</type>
      <name>TaskActuation</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>aec4e56dd91643c90c7eb4ea32a318512</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskBase</type>
      <name>TaskBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a2d21be9099a79f85b43e41f9066419eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskContactForce</type>
      <name>TaskContactForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a47b03d068d53cbcb93166f4969bc8f68</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskMotion</type>
      <name>TaskMotion</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a66e0725cedf43bb8dafb1fb5b1f67daf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a4b97dfde3f37214b7395fd028cd3216d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addActuationTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a127a7153dfbdc38e020f99b17c4e1719</anchor>
      <arglist>(TaskActuation &amp;task, double weight, unsigned int priorityLevel, double transition_duration=0.0)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addForceTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>abdd569dc985372afe27d3263c74e79f5</anchor>
      <arglist>(TaskContactForce &amp;task, double weight, unsigned int priorityLevel, double transition_duration=0.0)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addMeasuredForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ad717fb2b2622bab040e41bf12c00cfd2</anchor>
      <arglist>(MeasuredForceBase &amp;measuredForce)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addMotionTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ac7e5e7b93f17c60407726c47352632ad</anchor>
      <arglist>(TaskMotion &amp;task, double weight, unsigned int priorityLevel, double transition_duration=0.0)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addRigidContact</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a5be058150b8fbf55b483b472d382dd71</anchor>
      <arglist>(ContactBase &amp;contact, double force_regularization_weight, double motion_weight=1.0, unsigned int motion_priority_level=0)</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED bool</type>
      <name>addRigidContact</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>accfd088a312c7f5db81e115f588690ce</anchor>
      <arglist>(ContactBase &amp;contact)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a07fb0e875ba4e45d65f9a62f50fb3937</anchor>
      <arglist>(TaskLevelPointer task, double weight, unsigned int priorityLevel)</arglist>
    </member>
    <member kind="function">
      <type>const HQPData &amp;</type>
      <name>computeProblemData</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a152dd553e49474aad4a1f6d2e4c19cee</anchor>
      <arglist>(double time, ConstRefVector q, ConstRefVector v)</arglist>
    </member>
    <member kind="function">
      <type>Data &amp;</type>
      <name>data</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a1aba26c5c379970b525cd69ed1166213</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>decodeSolution</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a308cb57e69c53a9b9a405383d4fe2223</anchor>
      <arglist>(const HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAccelerations</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ac8f2723575fa75105f59196fcd47e03b</anchor>
      <arglist>(const HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getActuatorForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ab6571c6f6583150b567296464bad8152</anchor>
      <arglist>(const HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getContactForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a63729a5bb65a0783004353b7fee0f9c2</anchor>
      <arglist>(const HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getContactForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>aa0b660460956daf9e0aa7332e9f53968</anchor>
      <arglist>(const std::string &amp;name, const HQPOutput &amp;sol)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getContactForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ae8f14e63c29472955d2a3f0b7e65776c</anchor>
      <arglist>(const std::string &amp;name, const HQPOutput &amp;sol, RefVector f)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InverseDynamicsFormulationAccForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a63c034b5ff1a267491ed646e0d923034</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>nEq</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>abcc78b15cf99760a524a514bc223608b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>nIn</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a064dd2c9a0d4c8ffdef4b67586e09eb6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>nVar</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a042770ade52d47705dc815f228acbd27</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>removeFromHqpData</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a89eb00632328d074d11e8553c876703e</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>removeMeasuredForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>abee9095d0fd3e686607332b63238c756</anchor>
      <arglist>(const std::string &amp;measuredForceName)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>removeRigidContact</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>acf9747f4aab1b6716d0b2f8494ace85d</anchor>
      <arglist>(const std::string &amp;contactName, double transition_duration=0.0)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>removeTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a752b04636a6c36c13c1231031f7817d9</anchor>
      <arglist>(const std::string &amp;taskName, double transition_duration=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resizeHqpData</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a3705e9047273a4c261fd8e9697941b8f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>updateRigidContactWeights</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a02dd8a368e73f8ae22b929a64a24101c</anchor>
      <arglist>(const std::string &amp;contact_name, double force_regularization_weight, double motion_weight=-1.0)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>updateTaskWeight</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a2c1a9eb614522ff41f3b3895990094c4</anchor>
      <arglist>(const std::string &amp;task_name, double weight)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InverseDynamicsFormulationAccForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a7da86977f7ae7e39db9089ea002d00ec</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a25be02271b3ed988d50b0060e8d3b10b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>h_fext</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a5b50e7651f604038ea2ce53d9a17572b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; math::ConstraintEquality &gt;</type>
      <name>m_baseDynamics</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a6f6cbe267f0bd4189bc27692376f2e69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::shared_ptr&lt; ContactLevel &gt; &gt;</type>
      <name>m_contacts</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>aa39c1c277bf703950948a757a0f37d81</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::shared_ptr&lt; ContactTransitionInfo &gt; &gt;</type>
      <name>m_contactTransitions</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>acf04ba5bb8360ac59c12dbddfab26bc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Data</type>
      <name>m_data</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a88fc2a9ced7d44edddabfde1c586de42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>m_dv</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>aaaef7f302a998791e1a4ee38320c795b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>m_eq</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a2d3cb67a6f853807d0c37731058726d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>m_f</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a704636ecca8561fb8df283987317087c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>HQPData</type>
      <name>m_hqpData</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a08bf9f159d0511f275c558a1ef7f26fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>m_in</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a27ae62ad4775874ff2d8a5d91d84ce1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>m_Jc</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a814af28eb6f32ecafa99f9e5d2ad48ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>m_k</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a3d46c6e7222358a09c1ff296e0e15eaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::shared_ptr&lt; MeasuredForceLevel &gt; &gt;</type>
      <name>m_measuredForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ae445f30f226e06d56bc638333bc42756</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>m_solutionDecoded</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a85adb836dfa86bb74d7dbae228cf5121</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_t</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>ac67c90cfcdbd58962cb7f00ba05048c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::shared_ptr&lt; TaskLevel &gt; &gt;</type>
      <name>m_taskActuations</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a701dc73eba92e38318cf147c7163fe03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::shared_ptr&lt; TaskLevelForce &gt; &gt;</type>
      <name>m_taskContactForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a1f3db76a474db245f1f1782df1f00bc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::shared_ptr&lt; TaskLevel &gt; &gt;</type>
      <name>m_taskMotions</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a460c3545110a37cb70017ea70418e8c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>m_tau</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a20661ae43e71abe6bd0715000e7f9158</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>m_u</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>a1e4252bb9b9b3ed44792f7e335add4fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>m_v</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationAccForce.html</anchorfile>
      <anchor>aab2765436b8eba4fdbba2c736e830860</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::InverseDynamicsFormulationBase</name>
    <filename>classtsid_1_1InverseDynamicsFormulationBase.html</filename>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>afd4a75e1a7565dda52e72ea84f4252dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>contacts::ContactBase</type>
      <name>ContactBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>afe6af5cdc20ddfb1a36ce0dc6543d0db</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>solvers::HQPData</type>
      <name>HQPData</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a7eaab1cb213051926b70e4f308faa2c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>solvers::HQPOutput</type>
      <name>HQPOutput</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a7b3435cffab4d0b998e828a6d5bd0e10</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>contacts::MeasuredForceBase</type>
      <name>MeasuredForceBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a89a7108adfcf57eff4fb6f6a9a683a05</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a2d7808ec8589b7a4bdccb256ccac39d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>robots::RobotWrapper</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a8b38a42022b92b6b98332b15f59e2994</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskActuation</type>
      <name>TaskActuation</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a60c51d8da09b403025ccc36ad75b9962</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskBase</type>
      <name>TaskBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>aa19a7f2714889df41949a671bda02baa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskContactForce</type>
      <name>TaskContactForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a148bddf824f92531976c89b3364d7481</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>tasks::TaskMotion</type>
      <name>TaskMotion</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ace55184348fec5afe74145e8d878cf85</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ad2e4c6778a297c4687f1ad4220a47a0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>addActuationTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>af9564e34227f3fd988751e218139521a</anchor>
      <arglist>(TaskActuation &amp;task, double weight, unsigned int priorityLevel, double transition_duration=0.0)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>addForceTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>afb6b86c31061a9f5309e79f74919ef04</anchor>
      <arglist>(TaskContactForce &amp;task, double weight, unsigned int priorityLevel, double transition_duration=0.0)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>addMeasuredForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>adaaf8ac5d2919341f51517fe886f9ebc</anchor>
      <arglist>(MeasuredForceBase &amp;measuredForce)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>addMotionTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a6e7ece7cd12b5db92122e5a33b982b06</anchor>
      <arglist>(TaskMotion &amp;task, double weight, unsigned int priorityLevel, double transition_duration=0.0)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>addRigidContact</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ae484d2c833ba8ec57f1266bc730e656f</anchor>
      <arglist>(ContactBase &amp;contact, double force_regularization_weight, double motion_weight=1.0, unsigned int motion_priority_level=0)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual TSID_DEPRECATED bool</type>
      <name>addRigidContact</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>afd2946b1a879bfb7b22fafb19367063d</anchor>
      <arglist>(ContactBase &amp;contact)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const HQPData &amp;</type>
      <name>computeProblemData</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>aba257c7fe5b3d442c012a51a2739e852</anchor>
      <arglist>(double time, ConstRefVector q, ConstRefVector v)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Data &amp;</type>
      <name>data</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a3d6287458f0aaec183a025bbe9b75046</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>getAccelerations</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ab44054e38304dc6b0fc6cf670cf98cd0</anchor>
      <arglist>(const HQPOutput &amp;sol)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>getActuatorForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a2cf741fe0e325a755ca49362462856e1</anchor>
      <arglist>(const HQPOutput &amp;sol)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>getContactForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ab8c4b8fce17963bc8bcedacbe949ce06</anchor>
      <arglist>(const HQPOutput &amp;sol)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>getContactForces</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>aa720242f3c38aab3164d081ce56ed0a5</anchor>
      <arglist>(const std::string &amp;name, const HQPOutput &amp;sol, RefVector f)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InverseDynamicsFormulationBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a179f157a5211fc9bb7e266ac161bdd3b</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, bool verbose=false)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>nEq</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a8f25ca7cc3f3f406324ee9b564348932</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>nIn</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a80d0256cebfe22e6eebd0c64ac9f6c46</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>nVar</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ad332fab7a1021fa953bf1b6fd167aa3c</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>removeMeasuredForce</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a19c161268028aa8295232c7b7b87add0</anchor>
      <arglist>(const std::string &amp;measuredForceName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>removeRigidContact</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a8be0c28fa4294ede072081ac88606a2d</anchor>
      <arglist>(const std::string &amp;contactName, double transition_duration=0.0)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>removeTask</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a833318f31bc102377d26405f298a166a</anchor>
      <arglist>(const std::string &amp;taskName, double transition_duration=0.0)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>updateRigidContactWeights</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a72e47a28af725f9d8e686d6722c1b4dc</anchor>
      <arglist>(const std::string &amp;contact_name, double force_regularization_weight, double motion_weight=-1.0)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>updateTaskWeight</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ae200e15d655f9e7b85e019010991abe0</anchor>
      <arglist>(const std::string &amp;task_name, double weight)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InverseDynamicsFormulationBase</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>aea9264ec4b86a4dab1a0e3e7391764e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a1a5e9ee96b8fa33e879827eb6b50302d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>ace1b64cd1b173dd8a95317cb71e97794</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RobotWrapper</type>
      <name>m_robot</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a8158d093d27850b9d128ec64b02fc559</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_verbose</name>
      <anchorfile>classtsid_1_1InverseDynamicsFormulationBase.html</anchorfile>
      <anchor>a5e423789677b0b6dd93642282b922157</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::contacts::Measured3Dforce</name>
    <filename>classtsid_1_1contacts_1_1Measured3Dforce.html</filename>
    <base>tsid::contacts::MeasuredForceBase</base>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a75ae22c5ef56424fe483c1c7a4aa9e73</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data::Matrix3x</type>
      <name>Matrix3x</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a501c26f10ddabc65d3e3a3e59e3a8ed7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>robots::RobotWrapper</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>ad3bdc06bf56e470f2584df9d5673a7ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>aa977865347ff9368a9d94db261fa5cf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>computeJointTorques</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>af1d129970bf8623386d806bc354ab631</anchor>
      <arglist>(Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>getMeasuredContactForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>adc1be0441d886142659e09f8f9c81eab</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Measured3Dforce</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>ad77f60a7d1b255924e70492a794187a4</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const std::string &amp;frameName)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMeasuredContactForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>aa82dbb29deb44a0cbc85801cc3c2dbf9</anchor>
      <arglist>(const Vector3 &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useLocalFrame</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a3d56a91b615e32b08cdd5d5494e4458b</anchor>
      <arglist>(bool local_frame)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a3e2844ed7693dba9f013425df784c793</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_computedTorques</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a91ba38e4d04903953e1e56d05361a639</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_fext</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a73e8b79ddaad1df0e810463fc9fd3fe8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Index</type>
      <name>m_frame_id</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a54500de12993b8b42a2f7edd1a46713e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_frame_name</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a32173931182fc33defda4c70af250fa2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix3x</type>
      <name>m_J</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>af1edf05a1876c0efd81df931950a06ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix3x</type>
      <name>m_J_rotated</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a55b12e6765f009c166802ada4707c90a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_local_frame</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured3Dforce.html</anchorfile>
      <anchor>a062b050852d68a60bb654bafe34f9abb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::contacts::Measured6Dwrench</name>
    <filename>classtsid_1_1contacts_1_1Measured6Dwrench.html</filename>
    <base>tsid::contacts::MeasuredForceBase</base>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a5be35f3d91516e38d784a5e80c80f63d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data::Matrix6x</type>
      <name>Matrix6x</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a4671675230c50e5ca35ff1a5824b369e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>robots::RobotWrapper</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>afc6523f6bf2e7025e17d0327cccaa6cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector6</type>
      <name>Vector6</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a13ab7ae2fd950404c6bebf46ba12a1e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>computeJointTorques</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a13a2efd740fd8a6e6e7d5bc55c34d56d</anchor>
      <arglist>(Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const Vector6 &amp;</type>
      <name>getMeasuredContactForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a43f9b81bd28af16fdfcab5cf4dab9e37</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Measured6Dwrench</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>af23c2657af288a84f5a0310b0a15bc43</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const std::string &amp;frameName)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMeasuredContactForce</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a7ebe35bd478bdb8c8ec05ce1853acb4b</anchor>
      <arglist>(const Vector6 &amp;fext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useLocalFrame</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a14b46bc14fb9af2ed1b334903d33d004</anchor>
      <arglist>(bool local_frame)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a06f48d842956e5c8ce5e2267ebdebb55</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_computedTorques</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a6c833f7230f28b1045f7c916b70312bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6</type>
      <name>m_fext</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a9a03e31d8d87971375a3680c7d7677a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Index</type>
      <name>m_frame_id</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a8c4c013978632c70452d1ec2253d3f78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_frame_name</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>ac798e29414d659e9770b067d23e67e4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix6x</type>
      <name>m_J</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a84c325dea11a9d1ad96726deda345b0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix6x</type>
      <name>m_J_rotated</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a27fb22b1764c693805a95f5aa1da0b98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_local_frame</name>
      <anchorfile>classtsid_1_1contacts_1_1Measured6Dwrench.html</anchorfile>
      <anchor>a322218bd6f3af597835fc30a6a5f26f4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::contacts::MeasuredForceBase</name>
    <filename>classtsid_1_1contacts_1_1MeasuredForceBase.html</filename>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>a9592ac280179cfdf1ed3676df2c33c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>robots::RobotWrapper</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>a754efc0e2dae8b811c3c3fb846a564d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Vector &amp;</type>
      <name>computeJointTorques</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>a1801e2a1a86bc5ad3c11e9cabbaf923c</anchor>
      <arglist>(Data &amp;data)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MeasuredForceBase</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>aa160cf9a4824f0632d96e01a89c217f5</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function">
      <type>const std::string &amp;</type>
      <name>name</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>aac58404774a2da9cf7924c9e825c8f02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>name</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>ac6645a0cf3d087f723fa4c78d01bf941</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>a12820bef5c5c50df290a94e2679d3d63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>ad043c89d754b2efd04f21b32992e2a7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RobotWrapper &amp;</type>
      <name>m_robot</name>
      <anchorfile>classtsid_1_1contacts_1_1MeasuredForceBase.html</anchorfile>
      <anchor>a0d8a730d26d8bae72136bb030b442409</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::MeasuredForceLevel</name>
    <filename>structtsid_1_1MeasuredForceLevel.html</filename>
    <member kind="function">
      <type></type>
      <name>MeasuredForceLevel</name>
      <anchorfile>structtsid_1_1MeasuredForceLevel.html</anchorfile>
      <anchor>a30b8af8a9742bae45f5e7e3490f90dae</anchor>
      <arglist>(contacts::MeasuredForceBase &amp;measuredForce)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW contacts::MeasuredForceBase &amp;</type>
      <name>measuredForce</name>
      <anchorfile>structtsid_1_1MeasuredForceLevel.html</anchorfile>
      <anchor>a4666ddebdd7ede45491a822cb3d5efd8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Stopwatch::PerformanceData</name>
    <filename>structStopwatch_1_1PerformanceData.html</filename>
    <member kind="function">
      <type></type>
      <name>PerformanceData</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>afc1b4037d6abe28eab9b10e5d5d0ca5f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>clock_start</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>aa94851a9f3962c28de621739b8972702</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>last_time</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>a7b9252b5277bddb1dd717e24406d9c70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>max_time</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>a2aff27d554ece0cbbf2b00462636fd15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>min_time</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>a1e1e19648b28b9c74ef8ca852425a553</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>paused</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>a4778ec5791bc66a186abaac5bbd124ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>stops</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>a2f80119231c078f909abf5e51ed5ff0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>total_time</name>
      <anchorfile>structStopwatch_1_1PerformanceData.html</anchorfile>
      <anchor>a29e515b431fbc5a64ff3d85ad6a3f891</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::solvers::QPDataBaseTpl</name>
    <filename>structtsid_1_1solvers_1_1QPDataBaseTpl.html</filename>
    <templarg>scalar_</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; scalar_, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>aec5001dc645a50c52ed5daf36ac58746</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; scalar_, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>af0a8646c0af10203aa6719ec15235cdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>CE</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>afadc819a22b5b1ab03a2bc3e5ae2a6da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ce0</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>a158ce3917dd209c8c3759f788fa252a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>g</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>ae727f9e5243098d70eb4e1fa87582787</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>H</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>a123d63ca85416a50bec6231aaba08d48</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>QPDataBaseTpl&lt; double &gt;</name>
    <filename>structtsid_1_1solvers_1_1QPDataBaseTpl.html</filename>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>aec5001dc645a50c52ed5daf36ac58746</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>af0a8646c0af10203aa6719ec15235cdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>CE</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>afadc819a22b5b1ab03a2bc3e5ae2a6da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ce0</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>a158ce3917dd209c8c3759f788fa252a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>g</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>ae727f9e5243098d70eb4e1fa87582787</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>H</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataBaseTpl.html</anchorfile>
      <anchor>a123d63ca85416a50bec6231aaba08d48</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::solvers::QPDataQuadProgTpl</name>
    <filename>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</filename>
    <templarg>scalar_</templarg>
    <base>tsid::solvers::QPDataBaseTpl</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; scalar_, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>abab607c0b622aea47ba84a42831ef66d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; scalar_, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>a0048531656375e4aea6d13ba36322c3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>CI</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>a2dbb99a076668b98f94f43535a97c383</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ci0</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>a5e806ed01949ab3819a1f4c84c859834</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>QPDataQuadProgTpl&lt; double &gt;</name>
    <filename>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</filename>
    <base>QPDataBaseTpl&lt; double &gt;</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>abab607c0b622aea47ba84a42831ef66d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>a0048531656375e4aea6d13ba36322c3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>CI</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>a2dbb99a076668b98f94f43535a97c383</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ci0</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataQuadProgTpl.html</anchorfile>
      <anchor>a5e806ed01949ab3819a1f4c84c859834</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::solvers::QPDataTpl</name>
    <filename>structtsid_1_1solvers_1_1QPDataTpl.html</filename>
    <templarg>scalar_</templarg>
    <base>tsid::solvers::QPDataBaseTpl</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; scalar_, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a38a7c2b977fe981a47ff7cca4b258f0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; scalar_, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a20444d2237acd73c7909d2021439a17a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>CI</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a64dee5a8832789c7605e48a8f1744a74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ci_lb</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a53424745c40d37b002956b1fd15479f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ci_ub</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a33ea8658a649af5c2a31b931ae20de78</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>QPDataTpl&lt; double &gt;</name>
    <filename>structtsid_1_1solvers_1_1QPDataTpl.html</filename>
    <base>QPDataBaseTpl&lt; double &gt;</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a38a7c2b977fe981a47ff7cca4b258f0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a20444d2237acd73c7909d2021439a17a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Matrix</type>
      <name>CI</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a64dee5a8832789c7605e48a8f1744a74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ci_lb</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a53424745c40d37b002956b1fd15479f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>ci_ub</name>
      <anchorfile>structtsid_1_1solvers_1_1QPDataTpl.html</anchorfile>
      <anchor>a33ea8658a649af5c2a31b931ae20de78</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>Statistics::QuantityData</name>
    <filename>structStatistics_1_1QuantityData.html</filename>
    <member kind="function">
      <type></type>
      <name>QuantityData</name>
      <anchorfile>structStatistics_1_1QuantityData.html</anchorfile>
      <anchor>adcf989b3ef9c667a4cc47fee92f68b85</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>last</name>
      <anchorfile>structStatistics_1_1QuantityData.html</anchorfile>
      <anchor>abbe7724d9d9921dbdfcf66ad814fce89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>max</name>
      <anchorfile>structStatistics_1_1QuantityData.html</anchorfile>
      <anchor>a7b7b8d684815de015b5d8d0d78e675ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>min</name>
      <anchorfile>structStatistics_1_1QuantityData.html</anchorfile>
      <anchor>aacb4bb9eb2b7bad659a882a5f4e325c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>stops</name>
      <anchorfile>structStatistics_1_1QuantityData.html</anchorfile>
      <anchor>a5b6dc68d331ee05f1c254ebab12669a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>long double</type>
      <name>total</name>
      <anchorfile>structStatistics_1_1QuantityData.html</anchorfile>
      <anchor>ad0d7b84970e633bd63ecbb16e212438d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::RobotPythonVisitor</name>
    <filename>structtsid_1_1python_1_1RobotPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 3, Eigen::Dynamic &gt;</type>
      <name>Matrix3x</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>aa1ebf918f160aac5be6033746ff9ec92</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; std::string &gt;</type>
      <name>std_vec</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>ae4f29cf78e391c5d1719dd5248f7c527</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>aeed4ba670cf4cf073b03f0673c3facde</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>acceleration</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a380de3c1e1fbcd0bec01cef542f0dd4f</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::JointIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::Vector3d</type>
      <name>angularMomentumTimeVariation</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>aa21b18f24326ba7930f68a73d1820e7a</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::Vector3d</type>
      <name>com</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a32265c10f9ef9328e7767075777bb119</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::Vector3d</type>
      <name>com_acc</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>ac9a4f9c9d35ef12782d4c2b19cd55ecd</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::Vector3d</type>
      <name>com_vel</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a6a36c1f0ee64b2fc42f0c67c21fdc248</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeAllTerms</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>ab2fd8c4b30851473075ece8c289ea651</anchor>
      <arglist>(const Robot &amp;self, pinocchio::Data &amp;data, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Data</type>
      <name>data</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>ac3e0329dcb8b5992b69424b04e4f13ba</anchor>
      <arglist>(const Robot &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>add92d7eac7386c106832d97c2269ffcf</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>frameAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a5ea65513c2df8efeb9936d2cab2923fc</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>frameAccelerationWorldOriented</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a61e92afaee216d41e78d1a1bc50d5cac</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>frameClassicAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a00cb7c00f97640dbc88d31dace467266</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>frameClassicAccelerationWorldOriented</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a2c695714b2cc161aa64391c771942987</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::SE3</type>
      <name>framePosition</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a03fdcd0e302fd012fea5dc75505ded70</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>frameVelocity</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a9dcbb9ee458e008e9d4e44e73c5b1d1e</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>frameVelocityWorldOriented</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a57ecde07497c2c0b99d934190f1fc3fb</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::FrameIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>gear_ratios</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a8071829e6fdb65f146dd034ce2671ddb</anchor>
      <arglist>(const Robot &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Matrix3x</type>
      <name>Jcom</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a6dd938382f0b33be22733355bb523b75</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static boost::shared_ptr&lt; Robot &gt;</type>
      <name>makeClass</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a2996b00d27f3e37f0d40b5290c6a2b00</anchor>
      <arglist>(const std::string &amp;filename, const std::vector&lt; std::string &gt; &amp;stdvec, bp::object &amp;bpObject, bool verbose)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::MatrixXd</type>
      <name>mass</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a8dad5ea7b90187790497d8364228dec5</anchor>
      <arglist>(Robot &amp;self, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Model</type>
      <name>model</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>ad2723cf83ab6a45eeb74406e97124527</anchor>
      <arglist>(const Robot &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>nonLinearEffects</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a1545f82d85e1f5ba2cada8b7633d0dda</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::SE3</type>
      <name>position</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>afa4cdb5989889d905ba9d59fb8bd5bc8</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::JointIndex &amp;index)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>rotor_inertias</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a40863029cf9f9d5eead072a52014f46e</anchor>
      <arglist>(const Robot &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>set_gear_ratios</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>adb26deb883a0ef6da2011f55ea7462ec</anchor>
      <arglist>(Robot &amp;self, Eigen::VectorXd &amp;gear_ratios)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>set_rotor_inertias</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a076ef8a24ccb40af131514896f3caa1b</anchor>
      <arglist>(Robot &amp;self, Eigen::VectorXd &amp;rotor_inertias)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setGravity</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>af8404c5c5f7a76d7c129eb791b39c944</anchor>
      <arglist>(Robot &amp;self, const pinocchio::Motion &amp;gravity)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::Motion</type>
      <name>velocity</name>
      <anchorfile>structtsid_1_1python_1_1RobotPythonVisitor.html</anchorfile>
      <anchor>a2e6b8947757f852fb5789225af00ec7c</anchor>
      <arglist>(const Robot &amp;self, const pinocchio::Data &amp;data, const pinocchio::Model::JointIndex &amp;index)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::robots::RobotWrapper</name>
    <filename>classtsid_1_1robots_1_1RobotWrapper.html</filename>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a2d7d420cc1e86cca031988b2f173c9fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a90df138d2a30f531c4023d5b2e40b02d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>e_RootJointType</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ab4b23f7d25aa9409510845d85078cbb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FIXED_BASE_SYSTEM</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ab4b23f7d25aa9409510845d85078cbb5ae58eed240ae3d0b43aefe142f8a0cfd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FLOATING_BASE_SYSTEM</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ab4b23f7d25aa9409510845d85078cbb5ab8b2919fd4c26649073108225faf568b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FIXED_BASE_SYSTEM</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ab4b23f7d25aa9409510845d85078cbb5ae58eed240ae3d0b43aefe142f8a0cfd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FLOATING_BASE_SYSTEM</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ab4b23f7d25aa9409510845d85078cbb5ab8b2919fd4c26649073108225faf568b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Frame</type>
      <name>Frame</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a700415a53603d5be17b438a19539653c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>acc6d3f47d1c73b56ddb6c724279e334f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix3x</type>
      <name>Matrix3x</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ab7d9e9e50180c9bfd6ff656e1ba5a2d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Model</type>
      <name>Model</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a9300d9800fb4230e2d7c1dadb9e9887e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Motion</type>
      <name>Motion</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a913f0a0042a956a4a01ebc71e5c9218c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a6e78a0803d17c161c67032ce9b7d5f91</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>enum tsid::robots::RobotWrapper::e_RootJointType</type>
      <name>RootJointType</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a13c5cd0e0ff04357f5475b0094b3012d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a1e9202a34cb631760d15decc7d979272</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a14296b629478037f5030ca29b542b5c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>adf9171cd042b8c5ea301fc3697053d1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector6</type>
      <name>Vector6</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aee3ead69cf9679eb8392a5369480626a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const Motion &amp;</type>
      <name>acceleration</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aabd03d96c41ebc7e05048ebd6b49b6d8</anchor>
      <arglist>(const Data &amp;data, const Model::JointIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>angularMomentumTimeVariation</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>abf7f7cfbc4a622574ea3dae9fb441f36</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>com</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aef4e9dfb37e986f16ceb8fe5d1d5f84d</anchor>
      <arglist>(const Data &amp;data, RefVector com_pos, RefVector com_vel, RefVector com_acc) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>com</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a1fa44e70fa09784fab7854a2228b99d8</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>com_acc</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a4213d51dd81f45d0e94119694ad59c16</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>com_vel</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ad5e6447cbbf12e00bba32b9ea1b39099</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAllTerms</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>afd91a3959a6f1697e967c419c1559c10</anchor>
      <arglist>(Data &amp;data, const Vector &amp;q, const Vector &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Motion</type>
      <name>frameAcceleration</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a718251743fe606f405f7b3fec92e5497</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>frameAcceleration</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a6be75b9e013e5c418104a3950383f087</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index, Motion &amp;frameAcceleration) const</arglist>
    </member>
    <member kind="function">
      <type>Motion</type>
      <name>frameAccelerationWorldOriented</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a7586db77bd9b798a98ac4cf4dea6425d</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>Motion</type>
      <name>frameClassicAcceleration</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aefb764d87e1335695c9ae62df9fb763b</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>frameClassicAcceleration</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a35b12ea8f066502e4e905d161e95cf85</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index, Motion &amp;frameAcceleration) const</arglist>
    </member>
    <member kind="function">
      <type>Motion</type>
      <name>frameClassicAccelerationWorldOriented</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a5b0caed943cda5e813b51c670f3c9cce</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>frameJacobianLocal</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a0759026c0960a89fff8330dbe589d0b8</anchor>
      <arglist>(Data &amp;data, const Model::FrameIndex index, Data::Matrix6x &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>frameJacobianWorld</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a75831a50d1ed155229a49fde4997ba58</anchor>
      <arglist>(Data &amp;data, const Model::FrameIndex index, Data::Matrix6x &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>SE3</type>
      <name>framePosition</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a6058bd83ad7d900bf0aca5890b493e8e</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>framePosition</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a902985c31839d19bbe04c2e0924a39ff</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index, SE3 &amp;framePosition) const</arglist>
    </member>
    <member kind="function">
      <type>Motion</type>
      <name>frameVelocity</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a3001d24fe7d0cb0c4dc23f9b79636680</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>frameVelocity</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a6ae28664258a159307091a701e93a622</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index, Motion &amp;frameVelocity) const</arglist>
    </member>
    <member kind="function">
      <type>Motion</type>
      <name>frameVelocityWorldOriented</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ae17beac5627da5a059213eff0a1f74be</anchor>
      <arglist>(const Data &amp;data, const Model::FrameIndex index) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>gear_ratios</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a46673d246469bfdacc0d2cbae196f250</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>gear_ratios</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a8b7691c31efe64c0c9719ac1efbf4786</anchor>
      <arglist>(ConstRefVector gear_ratios)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>is_fixed_base</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>abaf80fd62c13b9aa075b9591f2d40898</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jacobianLocal</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a4cda10a836ac0961839cf05ffa21aef3</anchor>
      <arglist>(const Data &amp;data, const Model::JointIndex index, Data::Matrix6x &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jacobianWorld</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a7e2ab279815ed965ef7233d60d0ff0ad</anchor>
      <arglist>(const Data &amp;data, const Model::JointIndex index, Data::Matrix6x &amp;J) const</arglist>
    </member>
    <member kind="function">
      <type>const Matrix3x &amp;</type>
      <name>Jcom</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a01769c6ae03c4978472ab612475cc3ff</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function">
      <type>const Matrix &amp;</type>
      <name>mass</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>add0254650e40518eb65f7c1e3101db4e</anchor>
      <arglist>(const Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const Model &amp;</type>
      <name>model</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a3b8a5fd8ddea0c107694f1728813cdb8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Model &amp;</type>
      <name>model</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a55bf3162e003eedadf7d20c84cd3c6e5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Data::Matrix6x &amp;</type>
      <name>momentumJacobian</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>acf9f7049af144a640dfed430f53d48cd</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>na</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a972d8186682b4bebfa1299517fa4167d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>nonLinearEffects</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ae2c3374c2a1dcdac8632d150a592b72b</anchor>
      <arglist>(const Data &amp;data) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>nq</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a3fa439c769ad2f88381c5984f97edf87</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>nq_actuated</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aacaed105377321c9daa86b155eb041b3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>nv</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a4eacf1ded123534d0ac84d217a344398</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const SE3 &amp;</type>
      <name>position</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ac62fdb7e76d37d88c2e60b8dc122cb18</anchor>
      <arglist>(const Data &amp;data, const Model::JointIndex index) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a3443bac1004e1736ea4195eff8e10432</anchor>
      <arglist>(const std::string &amp;filename, const std::vector&lt; std::string &gt; &amp;package_dirs, bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>acc0d0a15095ebfe9ed481974d14e01f5</anchor>
      <arglist>(const std::string &amp;filename, const std::vector&lt; std::string &gt; &amp;package_dirs, const pinocchio::JointModelVariant &amp;rootJoint, bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a7d6680f12947fda0d65809c58bced229</anchor>
      <arglist>(const Model &amp;m, bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>acfdb893e4d9aed2d0baceeb9c8547c0b</anchor>
      <arglist>(const Model &amp;m, RootJointType rootJoint, bool verbose=false)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>rotor_inertias</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ac19e8cf34a1b804c85e5fa494236b25e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>rotor_inertias</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a82c243fee855ee38853513ba3a3aa9ad</anchor>
      <arglist>(ConstRefVector rotor_inertias)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGravity</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a9c5fa323c429e6915aacf72676179b93</anchor>
      <arglist>(const Motion &amp;gravity)</arglist>
    </member>
    <member kind="function">
      <type>const Motion &amp;</type>
      <name>velocity</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a77256a03a5cba6ec96813e94ff6ff177</anchor>
      <arglist>(const Data &amp;data, const Model::JointIndex index) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RobotWrapper</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a2caa295e8ab5c1dd147923334a4e1659</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar</type>
      <name>Scalar</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a41448e6aaf00b3adfde5417d4425588b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>init</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>adb7861498b3e3e5a34f5bcd8e722c857</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateMd</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ad8edceb971588870c0cf8c960df81a41</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_gear_ratios</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aa51e206626c06e24e52e7aba26bd2dcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_is_fixed_base</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a3f8c00b8296a59cccdf3704019717d9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>m_M</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a272c27b6e9c2bdda0b5cafc49dc3f534</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Md</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a1b2766b3a84c7f9ff478bcd457ef79f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Model</type>
      <name>m_model</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>ae48dfd16927200782614abe62443cb1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_model_filename</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aabbf0d2924d0c1c60419f04a1cb61357</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_na</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>a7f29ba38be4b2d2d537ccac3150c6025</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_nq_actuated</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aaa72f36367bf041726cd586afd49f358</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_rotor_inertias</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aa7a5a82b3d592085b6a9fd1b1c347163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_verbose</name>
      <anchorfile>classtsid_1_1robots_1_1RobotWrapper.html</anchorfile>
      <anchor>aa930f1b74eeaab0c185c2ea3e6dfac30</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ex_3_biped_balance_with_gui::Scale3d</name>
    <filename>classex__3__biped__balance__with__gui_1_1Scale3d.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classex__3__biped__balance__with__gui_1_1Scale3d.html</anchorfile>
      <anchor>a0387ec6fd177b136ee19e76da73cb46b</anchor>
      <arglist>(self, master, name, from_, to, tickinterval, length, orient, command)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get</name>
      <anchorfile>classex__3__biped__balance__with__gui_1_1Scale3d.html</anchorfile>
      <anchor>a977bd682d3c72cd82c8417854c7f18ea</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>classex__3__biped__balance__with__gui_1_1Scale3d.html</anchorfile>
      <anchor>a79d23edaf650cc94682e3a8669a85191</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverHQPBase</name>
    <filename>classtsid_1_1solvers_1_1SolverHQPBase.html</filename>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a3ae844201fea52c579680c83380dd0de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>ae3024ac5c7c84c4114326deba35839df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a896683966f4f2f87b08547360beff1fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual unsigned int</type>
      <name>getMaximumIterations</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>acce994159ba30fea4bc2ce341642be9c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMaximumTime</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a139c86e916d5b6cdd21c062862cd2b69</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a51565c278d0424807ac008f99a827354</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getUseWarmStart</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a3c8c89756008a49589e3461de43bbfbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const std::string &amp;</type>
      <name>name</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a7805da0343a9bc89bb8cee7f8d69bd4d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a84bf12370ca2f867576051d504ad7a73</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a6a8a99f94c6e810c64f308a72cadead8</anchor>
      <arglist>(const HQPData &amp;problemData, const bool hessianRegularization)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setMaximumIterations</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a6f820c861a6965b3f22aad0ec0cc4c09</anchor>
      <arglist>(unsigned int maxIter)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setMaximumTime</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>aa79c11bd8c6b90f7cf99970d838939a6</anchor>
      <arglist>(double seconds)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setUseWarmStart</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>ab98e10a6489f7966535558b40d0b1c25</anchor>
      <arglist>(bool useWarmStart)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>afc4a7304256661bc1c89772d37bc6294</anchor>
      <arglist>(const HQPData &amp;problemData)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverHQPBase</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a1fdae235a5d0fb0f3fb0cc59d5d9b598</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SolverHQPBase</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>afd0ba3569717846d2d16c1e573665e19</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string const</type>
      <name>HQP_status_string</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>adf57cc45bce4fb2a46f3b5dfe1722420</anchor>
      <arglist>[5]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_maxIter</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>ac95ba35bfcee758ec04e6a41fb3da16f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_maxTime</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a44f9dbf47bce56f4a66a7ba792a11e3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a4b140946eab2488b368e5785b3378c69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HQPOutput</type>
      <name>m_output</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a9f23be3f25d04d55381eecb4e350071b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_useWarmStart</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQPBase.html</anchorfile>
      <anchor>a22a33873409ae45f68d6e9d9d564da11</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::solvers::SolverHQPFactory</name>
    <filename>structtsid_1_1solvers_1_1SolverHQPFactory.html</filename>
    <member kind="function" static="yes">
      <type>static SolverHQPBase *</type>
      <name>createNewSolver</name>
      <anchorfile>structtsid_1_1solvers_1_1SolverHQPFactory.html</anchorfile>
      <anchor>ac41d456629705c97251a538e74d44c0d</anchor>
      <arglist>(const SolverHQP solverType, const std::string &amp;name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SolverHQPBase *</type>
      <name>createNewSolver</name>
      <anchorfile>structtsid_1_1solvers_1_1SolverHQPFactory.html</anchorfile>
      <anchor>a404a0c1d0afa9a7246527c021ef13355</anchor>
      <arglist>(const SolverHQP solverType, const std::string &amp;name)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverHQpmad</name>
    <filename>classtsid_1_1solvers_1_1SolverHQpmad.html</filename>
    <base>tsid::solvers::SolverHQPBase</base>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a1b602cd3b511d8e7ee2cde709a811e69</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>ab6b52b5a53cf16a55b6bbc7e558e99de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a516c4572f23e54d6fdb4378f943510bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>qpmad::SolverParameters</type>
      <name>Settings</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a75e30405b61e2fe0b573df615bf80d2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a1f0862f7360d515e6a27e2b1e9549b2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a45a2b3e745092289907a68fa54864bbc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>adc6da49f87f016f460da51f0615d5773</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a17c47e33f7186ff6b9c7d3a07c92289b</anchor>
      <arglist>(const HQPData &amp;problemData, const bool hessianRegularization=true)</arglist>
    </member>
    <member kind="function">
      <type>Settings &amp;</type>
      <name>settings</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a65849d49c94e26b5ac9b1adee18bf920</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a1f5c0648f8d7a225ed18da7a4b6d647f</anchor>
      <arglist>(const HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverHQpmad</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>ab89cf4eecb6dbbd2255c9d27f3c1a46a</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a23ccd49bbe99dc9ec919bedeca833e2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>sendMsg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a4f349b6e99831608e304e6fb52d640fb</anchor>
      <arglist>(const std::string &amp;s)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>m_C</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>afb7667df813b0abe9ad54980bfaca9e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_cl</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>acf424dc82bb83719935c5fe026f32850</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_cu</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a2377ca61fa64f512238e38dc88b92993</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_g</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>af21f72174c93b47dcb756bcb81970211</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>m_H</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a34b9cd6aa8c287e213a747ab0ef34087</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_has_bounds</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>ae8f3e19ff3f7f4a0ff61678d4298a750</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_hessian_regularization</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>ab26bc3aca90508c42809bbb04102d92f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_lb</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>ad3939088132047c6d7a4bc547461b0f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_n</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a79a377318b60e115e6c3d817c518ac5d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_nc</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>aa5cae80972b3cb8b1958173f3cf3bb6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Settings</type>
      <name>m_settings</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a4f51a5a3e95da8c9db5666c4133b18b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>qpmad::Solver</type>
      <name>m_solver</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a771cf10cb9bb63f6745ff1d0643855f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ub</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQpmad.html</anchorfile>
      <anchor>a01ea5bb57703d292e02484629927472c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverHQuadProg</name>
    <filename>classtsid_1_1solvers_1_1SolverHQuadProg.html</filename>
    <base>tsid::solvers::SolverHQPBase</base>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a97f0f2b3b23d8726cac0f2d30164a7d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a3276336f6850f04aa64cee7fb84c2d52</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a4d00ed03b1f2001ed1c96c02426ec759</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a20f4d8f018358f4cc6859fabd6298596</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>adedb8705a2b3fe29bcd210f7ff130ec6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const QPDataQuadProg</type>
      <name>getQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>ac7b3a2a4bc99b607cc90345f4ce36065</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a052d33affb985f8e5060eccc6a51d410</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a22d715453a4c49570a6aeab8bdda2569</anchor>
      <arglist>(const HQPData &amp;problemData, const bool hessianRegularization=true)</arglist>
    </member>
    <member kind="function">
      <type>const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a51eb482f67c495d78a4d15ffa06380d6</anchor>
      <arglist>(const HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverHQuadProg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>abf2d9c162ab248a06e9706dd79c49c7e</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a1e58d7a3ddbec4cfadc5b6be23e19144</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>sendMsg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>ab9db9ec3dbcb0b5a7e098f4279844e70</anchor>
      <arglist>(const std::string &amp;s)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXi</type>
      <name>m_activeSet</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>aa07b8bbca78f7867e95adcd83e0a74fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tsid::math::Index</type>
      <name>m_activeSetSize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a6bcb57614d85a7d81ff9009e94be7d88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Matrix</type>
      <name>m_CE</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>af5084dfc1660274d8881158974a536f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Vector</type>
      <name>m_ce0</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>af0a04365ee4b51f9ce89aba7265829e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Matrix</type>
      <name>m_CI</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a03cd9dd6de9be4c80388f19995e6c0ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Vector</type>
      <name>m_ci0</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>af297757773d0418b7e671c4ea78ff72a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Vector</type>
      <name>m_g</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>ab8f72804f77f264d8775a1c6091e6870</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Matrix</type>
      <name>m_H</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>ab9ecdb26c9e65c849778d265cb58fb5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_hessian_regularization</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a06575759acbd2f8725d98658f723679e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_n</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>ad19e51070580950128d51db3f8f80aec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_neq</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a6369900f0e84fac6538e1e26ff26d812</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_nin</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>ad314e30cbbc8d9d5eb7452e86f35b485</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_objValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a5b71331e23df30c3dc2b5b14acb41bb8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>QPDataQuadProgTpl&lt; double &gt;</type>
      <name>m_qpData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProg.html</anchorfile>
      <anchor>a52982137abf94d2c46ed4062d40555be</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverHQuadProgFast</name>
    <filename>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</filename>
    <base>tsid::solvers::SolverHQPBase</base>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a0a0afecf79b38ebd8fbcd295ee8dc201</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a83fd6d825019b2309f0564b5f92b61bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>af681a73401009803ef1321b94c6173c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a4b6b7e0c17ea070b7e6097ff7debcc67</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>ab1798b5c8fa051a4cded57d01e82fab9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const QPDataQuadProg</type>
      <name>getQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a9d0cc8d2afadd75b10728e0333b3fb33</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>aa13fbbb271b36f1364c6d0b07c76a50d</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a2f5ec2366741e3f3c337ad0f482a56fd</anchor>
      <arglist>(const HQPData &amp;problemData, const bool hessianRegularization=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMaximumIterations</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>ad758bf6a49f02c45c5d34de21224a33a</anchor>
      <arglist>(unsigned int maxIter)</arglist>
    </member>
    <member kind="function">
      <type>const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a0649c85bae1f0d5ad0571341c17046b7</anchor>
      <arglist>(const HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverHQuadProgFast</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a94d82db0ac8b496bd938af3fc0922b61</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a5c9a4ee34e30f0d05fb287f126dacfeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>sendMsg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a06bc23109fa9b0c78aed38b9abef9191</anchor>
      <arglist>(const std::string &amp;s)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXi</type>
      <name>m_activeSet</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a88fd0cb2bb2bfbe3cb55e32fdbae4b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_activeSetSize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a441ebfe7de7c5b7375a4a3b558f3ca57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Matrix</type>
      <name>m_CE</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>ac619c528a03e1a186de9d14f5a97a694</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Vector</type>
      <name>m_ce0</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>aa20ebc2cbd32736c98e65d71570fe0bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Matrix</type>
      <name>m_CI</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a5eb2748279303ffd408fde3542b9b1ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Vector</type>
      <name>m_ci0</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a7509bf61b29a47a3f56c73cdfcdac47b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Vector</type>
      <name>m_g</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a9693b5ed44f7ed948b0b64ebbec2cd1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TSID_DEPRECATED Matrix</type>
      <name>m_H</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a6b0bdb57534b6ea1be42ddbed997ec66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_hessian_regularization</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a38bcc0f030d5686eb8954cecef18afdb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_n</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a382c2bca2aa581d18bd4c80c2706ac9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_neq</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a341eac3de18eebfe70657bdee6500cf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_nin</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a526791bbb3b8c92e33998b689d1ef7ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_objValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>a2e84d6648517b78c4d6893987caa5f30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>QPDataQuadProgTpl&lt; double &gt;</type>
      <name>m_qpData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>ae121c11e968da1405a4a34e965bfc13f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>eiquadprog::solvers::EiquadprogFast</type>
      <name>m_solver</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgFast.html</anchorfile>
      <anchor>af655d5a89ea5f0d576200b6aa0ab8b37</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::SolverHQuadProgPythonVisitor</name>
    <filename>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</anchorfile>
      <anchor>ab2db0aaeb290476eac03ae23d6eaff97</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</anchorfile>
      <anchor>ac5f186cdd3901397cbe89b2e864cf149</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>resize</name>
      <anchorfile>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</anchorfile>
      <anchor>ab53bb53c968be4bdf753abb9ed7aab09</anchor>
      <arglist>(Solver &amp;self, unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::QPDataQuadProg</type>
      <name>retrieveQPData</name>
      <anchorfile>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</anchorfile>
      <anchor>a58be37b5a0f3b1197e89754db21514ad</anchor>
      <arglist>(Solver &amp;self, HQPDatas &amp;HQPDatas)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::HQPOutput</type>
      <name>solve</name>
      <anchorfile>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</anchorfile>
      <anchor>ac3db66263c44b36bafb79ee266ae748e</anchor>
      <arglist>(Solver &amp;self, const solvers::HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::HQPOutput</type>
      <name>solver_helper</name>
      <anchorfile>structtsid_1_1python_1_1SolverHQuadProgPythonVisitor.html</anchorfile>
      <anchor>a155670eaddb5d4f2089887e1ade241ea</anchor>
      <arglist>(Solver &amp;self, HQPDatas &amp;HQPDatas)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverHQuadProgRT</name>
    <filename>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</filename>
    <templarg>nVars</templarg>
    <templarg>nEqCon</templarg>
    <templarg>nIneqCon</templarg>
    <base>tsid::solvers::SolverHQPBase</base>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a843c0f09f18a7215d9f045ba7ec3d2d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a022dff0f5475f155b9baf105e7d162a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>ae845de42ce44aa41edd4343652634ff8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>afc3ce45c4c56a750654d45ebb238e55f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a42b3a0c4ec3c12b6739456bd3e730f86</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a6f64b0e686ca0cb3632b3cd4b27a682e</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a47a212fad6bfe536956ed74c7e24594a</anchor>
      <arglist>(const HQPData &amp;, const bool)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMaximumIterations</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>ab9744e3ba0035a6c277fd509cfb0e18c</anchor>
      <arglist>(unsigned int maxIter)</arglist>
    </member>
    <member kind="function">
      <type>const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a8b13f6c6d17b6220a076388dc1e1762b</anchor>
      <arglist>(const HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverHQuadProgRT</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>ad25c3e407cd9ffd525bbf6c5b4b0fa78</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>aeee299abbeff7537af5a22bccb5914c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>sendMsg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a9cb997b95b21631be77f521eba2598d3</anchor>
      <arglist>(const std::string &amp;s)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXi</type>
      <name>m_activeSet</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a8fd4472287fcffc911ed87270a5fe806</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_activeSetSize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a50640806c789acb20bfe9bb9be82ada3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RtMatrixX&lt; nEqCon, nVars &gt;::d</type>
      <name>m_CE</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a6e515ec600ffb23fb9c232bd0c8c9b28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RtVectorX&lt; nEqCon &gt;::d</type>
      <name>m_ce0</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>aa212c58c210c6bd327ab42ce4c481510</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RtMatrixX&lt; 2 *nIneqCon, nVars &gt;::d</type>
      <name>m_CI</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a2bfd2faa6509a0e2393758445b722ade</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RtVectorX&lt; 2 *nIneqCon &gt;::d</type>
      <name>m_ci0</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a3bb3ad085a3d1e9323bda622e538939d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RtVectorX&lt; nVars &gt;::d</type>
      <name>m_g</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a5356e4b19af9de26114e5485b8ea0ab7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RtMatrixX&lt; nVars, nVars &gt;::d</type>
      <name>m_H</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>af6213be4a0bec0141c157d59e1ee9ba0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_hessian_regularization</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>af6480739912e166de38d80e90deda9f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_n</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a3ae7fb2cc69e556b43261445e813104d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_neq</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>aed4a5912dd4eafaf01808f9b690c8c80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_nin</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a9d2185107e686976b5dce7a4df37802d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_objValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a46986ffebc135453f7f6aecd1493b77c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>eiquadprog::solvers::RtEiquadprog&lt; nVars, nEqCon, 2 *nIneqCon &gt;</type>
      <name>m_solver</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverHQuadProgRT.html</anchorfile>
      <anchor>a20496e0aeb8cb27e78de28d50565175a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverOSQP</name>
    <filename>classtsid_1_1solvers_1_1SolverOSQP.html</filename>
    <base>tsid::solvers::SolverHQPBase</base>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a83c6d38cec8807293e427404e7347848</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a31166c209af78872ab073de791afaf45</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>adde7befd2aaa22f5623d43ad819c5505</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>aa3dc46cc739a1fe2dce89fb4bc13ddbb</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a7e7b19558c6e466d2c62f0306f6a0363</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const QPData</type>
      <name>getQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a4230862c781ad4bc8e44291344b7c8a8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a86c283518b2c6c9a70c90b8bfa9010e0</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a6b56352e806252a924f6ded292610277</anchor>
      <arglist>(const HQPData &amp;problemData, const bool hessianRegularization=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAlpha</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a85504fb71fa1e973b334eeb592c1a078</anchor>
      <arglist>(double alpha)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEpsilonAbsolute</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ae4089e4cbc11f05d4f21d358384fa326</anchor>
      <arglist>(double epsAbs)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEpsilonRelative</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ab57ae106fa49c0f3de604139f04f58e4</anchor>
      <arglist>(double epsRel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMaximumIterations</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a2a05aa269238d5dab97875ba82af5c99</anchor>
      <arglist>(unsigned int maxIter)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRho</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a01fec313a661584cea8a490cd80348a2</anchor>
      <arglist>(double rho)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSigma</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>aa18842b6c4959ea1bcda91f5cf1f48cc</anchor>
      <arglist>(double sigma)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVerbose</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a1f52d22cc89c216478cfcce9e10d9345</anchor>
      <arglist>(bool isVerbose=false)</arglist>
    </member>
    <member kind="function">
      <type>const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>aa8dfdd44f49ea874a34c82c081c143b7</anchor>
      <arglist>(const HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverOSQP</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a1d0e8c3d76bbaf54e64118cad17c97f5</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverOSQP</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ac27d0cc89f4edd7dfd177746a46dd262</anchor>
      <arglist>(const SolverOSQP &amp;other)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ac4135a490314befec5a911f6fb25ee3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>sendMsg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ad742f8a18380a945761a10e87b8d337a</anchor>
      <arglist>(const std::string &amp;s)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_alpha</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>afbdd797d59ac92341a62a1eb2870a414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_epsAbs</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a6a41e1002e0259990c5cdd4e29965cba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_epsRel</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ad5c03ef432d9074114a05cfd49ff8d35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_hessian_regularization</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a804ce02f138bae6aa95efa3d5c4db0f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_isDataInitialized</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>af1e900c2be58cf26f6620782ee7034ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_isVerbose</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a558692cd32d1f0a146d9a95cf9036762</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_n</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>aa38955e9747d24b64e582f27a8b93313</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_neq</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>abe3d2b256478e207456ae2d04624de35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_nin</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ab76276c79d19aff659821f98f41a8929</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_objValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a4f8968dd286a485ec33cb0a12d4e97b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>QPDataTpl&lt; double &gt;</type>
      <name>m_qpData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>ad17833ce52b97abb4dcca84d76364a52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_rho</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a3488d3f0df5c56d93c986c9fb61b2844</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sigma</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>aca2fee509e23b174d0a61a7e9b8d56bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OsqpEigen::Solver</type>
      <name>m_solver</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverOSQP.html</anchorfile>
      <anchor>a77838ea2af5e9b70345b1b705c6c4aa5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::SolverOSQPPythonVisitor</name>
    <filename>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</anchorfile>
      <anchor>aa6b1569a47b40aff5e752a83a17ab7f5</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</anchorfile>
      <anchor>ae359d8da8a141e2556af4be316e1e21a</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>resize</name>
      <anchorfile>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</anchorfile>
      <anchor>af5236f3cb0128b259eda150b33257d5f</anchor>
      <arglist>(Solver &amp;self, unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::QPData</type>
      <name>retrieveQPData</name>
      <anchorfile>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</anchorfile>
      <anchor>a791b2eba339bff3f58cd4eef1f862a6c</anchor>
      <arglist>(Solver &amp;self, HQPDatas &amp;HQPDatas)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::HQPOutput</type>
      <name>solve</name>
      <anchorfile>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</anchorfile>
      <anchor>a426014edcead8ea41a4348435323b47f</anchor>
      <arglist>(Solver &amp;self, const solvers::HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::HQPOutput</type>
      <name>solver_helper</name>
      <anchorfile>structtsid_1_1python_1_1SolverOSQPPythonVisitor.html</anchorfile>
      <anchor>a281ec102469d47937eb5d32303363ec1</anchor>
      <arglist>(Solver &amp;self, HQPDatas &amp;HQPDatas)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::solvers::SolverProxQP</name>
    <filename>classtsid_1_1solvers_1_1SolverProxQP.html</filename>
    <base>tsid::solvers::SolverHQPBase</base>
    <member kind="typedef">
      <type>math::ConstRefMatrix</type>
      <name>ConstRefMatrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a5587f20e43604fca9dde75db0fe8e683</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a14bb99e851fd73b9e67a436bdccedc1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::RefVector</type>
      <name>RefVector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a4c37406bc3b21d06a61f3a27cbb27fa7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ad6e8c6227f7d7f3b5f5b16c4d1a493dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getObjectiveValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>af7fa6e7bd565bf93702de617716362e5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const QPData</type>
      <name>getQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ac8bcf3a84573e94da3055f8c72182b26</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a4d969219bbc4187e4f3574736eb0598f</anchor>
      <arglist>(unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>retrieveQPData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ab806a690f9d89015cb73e4cb58ba583f</anchor>
      <arglist>(const HQPData &amp;problemData, const bool hessianRegularization=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEpsilonAbsolute</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a8f393adf1744e1bed25957e5f35e5ac3</anchor>
      <arglist>(double epsAbs)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEpsilonRelative</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a90699a94924ff43fbaa36d5dda1dbe1d</anchor>
      <arglist>(double epsRel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setMaximumIterations</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a6eb6ab5d29e3490b4a416104f124783c</anchor>
      <arglist>(unsigned int maxIter)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMuEquality</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a6bd33b4eb8cd3002fca18d5805dbf3e3</anchor>
      <arglist>(double muEq)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMuInequality</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>aebbdd7fcc421c93ec18af6143c186184</anchor>
      <arglist>(double muIn)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRho</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a96ba24d4f667b6edf667a7f70c22437f</anchor>
      <arglist>(double rho)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVerbose</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a475364b3946e4c41af706dc92f4827d0</anchor>
      <arglist>(bool isVerbose=false)</arglist>
    </member>
    <member kind="function">
      <type>const HQPOutput &amp;</type>
      <name>solve</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a4f305970e7e4b4359146e6385933b7ce</anchor>
      <arglist>(const HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverProxQP</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a9bb327ab8866049ba03481d88c6cb23f</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a6e9ca918349c709eea950ffba21a31e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>sendMsg</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a114175fcbc89ec4faea107645bad0730</anchor>
      <arglist>(const std::string &amp;s)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_epsAbs</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ad4edffcba2abcd97ad12873519c39b96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_epsRel</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>aff8405b1d4ce958423228d50ebb96832</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_hessian_regularization</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ae85444d52c3b421e8b64abdc46a6bb11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_isVerbose</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a2ce0ea9801493cf3e99349c3d356a9bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_muEq</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a22f4ece4cc18665685312da75f5126b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_muIn</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a237233bdc9734feae0c964dc898bbc58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_n</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ac766d26f6b1e471cc9b023f082782da6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_neq</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>ad29dca86d87eb8132d2fbb7d6daaa9e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>m_nin</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>aec668f01b271a04b3238f8f406b85d71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_objValue</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a75ef4a433ed37beec9ad87aaa965ccba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>QPDataTpl&lt; double &gt;</type>
      <name>m_qpData</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a5e349b0146e0f9ab914310b148bfb1f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_rho</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a3c21ba409cfd0e3023df30612c01d2c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dense::QP&lt; double &gt;</type>
      <name>m_solver</name>
      <anchorfile>classtsid_1_1solvers_1_1SolverProxQP.html</anchorfile>
      <anchor>a4a5af055447efbe566aaa637513d9aa2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::SolverProxQPPythonVisitor</name>
    <filename>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</anchorfile>
      <anchor>a4701eec79995c30009648e1a7ec6e734</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</anchorfile>
      <anchor>abd3d4c502d70c757eca7f5606670e491</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>resize</name>
      <anchorfile>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</anchorfile>
      <anchor>a941d3d9e2c963dba1a4ce57c13c809e8</anchor>
      <arglist>(Solver &amp;self, unsigned int n, unsigned int neq, unsigned int nin)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::QPData</type>
      <name>retrieveQPData</name>
      <anchorfile>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</anchorfile>
      <anchor>ab8b4bf767171fcdadd6b3ff314cacee0</anchor>
      <arglist>(Solver &amp;self, HQPDatas &amp;HQPDatas)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::HQPOutput</type>
      <name>solve</name>
      <anchorfile>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</anchorfile>
      <anchor>aaf70aebad1e2a59488b65244d0310038</anchor>
      <arglist>(Solver &amp;self, const solvers::HQPData &amp;problemData)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static solvers::HQPOutput</type>
      <name>solver_helper</name>
      <anchorfile>structtsid_1_1python_1_1SolverProxQPPythonVisitor.html</anchorfile>
      <anchor>a4490931c0f52d96ec969eb0fdb1a1b95</anchor>
      <arglist>(Solver &amp;self, HQPDatas &amp;HQPDatas)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>StandardRomeoInvDynCtrl</name>
    <filename>classStandardRomeoInvDynCtrl.html</filename>
    <member kind="function">
      <type></type>
      <name>StandardRomeoInvDynCtrl</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a0c717db03552c6c403f4585fb580b66d</anchor>
      <arglist>(double dt)</arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; TaskComEquality &gt;</type>
      <name>comTask</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>adb3f1b8420698bf17551a6b54571f272</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; Contact6d &gt;</type>
      <name>contactLF</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>afbdfeb875b7f0240a07c112c5ad4aeef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; Contact6d &gt;</type>
      <name>contactRF</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a6c608378d88307b363edc3de95d655e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>pinocchio::SE3</type>
      <name>H_lf_ref</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a12bde5d80ffd5293aa415d31cfc79a27</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>pinocchio::SE3</type>
      <name>H_rf_ref</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a4a58072eab29d2fc0840848a0a94fea0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; TaskJointBounds &gt;</type>
      <name>jointBoundsTask</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a883371e01ed53f91650600f3c027ae08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; TaskJointPosture &gt;</type>
      <name>postureTask</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a64c0ecab68c7e5d6a24c88691af97471</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>q</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a617a4171e513d321292080db73c39945</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; RobotWrapper &gt;</type>
      <name>robot</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a048b1f02a9edc3409eb44c7f4808a6ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>t</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a1513702f728e3007950b3213b12ef6e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; InverseDynamicsFormulationAccForce &gt;</type>
      <name>tsid</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a21cb62021a89732792e736258096e4f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>v</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a2eb067891308659e2be762ff1e94c3e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const Vector3</type>
      <name>contactNormal</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a46af70052af0597b636a64e4c1fa45cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>fMax</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a782bf77f9ffbd12e973e7bc9821f23c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>fMin</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>afce2cc25d36f078eb01357a9fd480780</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>kp_com</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a8f6b7cb4e5ee27f68ecf907a7aee4ca8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>kp_contact</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a8dc843dc61e766843e244e6ad5ba8587</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>kp_posture</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a5d3b5e983c480f53fe1f3cf1997af0a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>lf_frame_name</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>aa95059e5bb2e7063598c417fe5008242</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>lxn</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a5285c6c157ea37bcb15af28e903c458d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>lxp</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a74b237c7526b59ab42d961181086ea91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>lyn</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a13c126c789e3ad9b8c444ea308528597</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>lyp</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>abc816f17dda6ec1d6811603925266269</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>lz</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a6a5b0a3a32eddb0e5e3a28fd4f1e371b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>mu</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a3bbfcb762d525a84b91be187bfac0d53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>rf_frame_name</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a1f835c9b37a9eab85dee552f4979dfce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>w_com</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a79e093c7a26302e07d84df31d2d5642b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>w_forceReg</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>a91f7164d394664146e4b230c77c99eea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>w_posture</name>
      <anchorfile>classStandardRomeoInvDynCtrl.html</anchorfile>
      <anchor>ac336ebfe74d48ffd6d5970e466ac08bc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Statistics</name>
    <filename>classStatistics.html</filename>
    <class kind="struct">Statistics::QuantityData</class>
    <member kind="function">
      <type>long double</type>
      <name>get_average</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>aff276aaddc3d3e48ba0593a3d224a839</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_last</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>aa29dd07e996752187530bbae7e3982ae</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_max</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a119973e7b51e39934f84d20e5c5db648</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_min</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a031340214d96ab2ed00d666ca5f5e33a</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_total</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a2f0b1355b6e61222819ed188688031ad</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>quantity_exists</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a55c3ad84cf15b0efcc9b42c1b5307a81</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>report</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>af6d0331d8df78b439d48d09a11c7596c</anchor>
      <arglist>(std::string name, int precision=2, std::ostream &amp;output=std::cout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>report_all</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a7bf2ee657d49be1ddccc4f0e83fe6efa</anchor>
      <arglist>(int precision=2, std::ostream &amp;output=std::cout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>ae7af8ad8b6b8573a4a071f6fddb604bf</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset_all</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>aae2aef69ff48c51c7ea2e02097ac517d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Statistics</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a60ddd90a571ed4c3ce8c0f6317a36d63</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>store</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a5753f5cec0770ffcf7e9048481be5740</anchor>
      <arglist>(std::string name, const double &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>turn_off</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>ab0e7c6319d800a3d7f737a9bff9f8acb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>turn_on</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a8b779f7dea4ebccc379529bdffb052f2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Statistics</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>ab68ede75479e44d5c35b78ec1284065b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>active</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a19ae162f023ba5a738d422037f377c03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, QuantityData &gt; *</type>
      <name>records_of</name>
      <anchorfile>classStatistics.html</anchorfile>
      <anchor>a0e4780025d712beedafddb7059aa3b62</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>StatisticsException</name>
    <filename>structStatisticsException.html</filename>
    <member kind="function">
      <type></type>
      <name>StatisticsException</name>
      <anchorfile>structStatisticsException.html</anchorfile>
      <anchor>a63cceece7ae10443cbfa2ed0f98373a7</anchor>
      <arglist>(std::string error)</arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>error</name>
      <anchorfile>structStatisticsException.html</anchorfile>
      <anchor>a653cfe6a5eac7a3180422701b98d2c28</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Stopwatch</name>
    <filename>classStopwatch.html</filename>
    <class kind="struct">Stopwatch::PerformanceData</class>
    <member kind="function">
      <type>long double</type>
      <name>get_average_time</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>aa4b02a7e8abccb7affa14a96721363ef</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_last_time</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>aefab282b218d1f7478ca0d950042deab</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_max_time</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a27eaa90bbde888b37fdfd97626f21276</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_min_time</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a2355fa98e0b4e922431ebc7c8df322e5</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_time_so_far</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a0a7f1875560e12f19cea5ac0a97dd5ef</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>get_total_time</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a3b6e2bc39286feb9a29de8d70f3be069</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pause</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>abd0df6443037b5c5634fa789da8bf5d1</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>performance_exists</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a475635bc24c74a5bf575b3151326995f</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>report</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>af7a2527daf7c2e5c4d785214b569e121</anchor>
      <arglist>(std::string perf_name, int precision=2, std::ostream &amp;output=std::cout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>report_all</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a53a8d4e5815cd04b6763f838d335856c</anchor>
      <arglist>(int precision=2, std::ostream &amp;output=std::cout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a2e00a6044f88b49d8ccd3f35d845ffd7</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset_all</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>ad71465a77090e0ff21b4b5e5262ada2a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_mode</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a4069febf08e820dfe66cb9a7323edc82</anchor>
      <arglist>(StopwatchMode mode)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>start</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a97f67ba8e0caa3aedbad7170902c956c</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>stop</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>aedebb32f7fe5112b40ab2d2297697a79</anchor>
      <arglist>(std::string perf_name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Stopwatch</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>ae54d52a0a304115fcbb9b8b45fc01a05</anchor>
      <arglist>(StopwatchMode _mode=NONE)</arglist>
    </member>
    <member kind="function">
      <type>long double</type>
      <name>take_time</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a203d4a218a208baad522638a095c6032</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>turn_off</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>aef9b2f7ef63cef392933a994d43b2108</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>turn_on</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a580820292d4b82c773775743925c73f0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Stopwatch</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a534c433482f8fe8144c91c0fe37aac20</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>active</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>ab9fb41e90ebb80b0b58dda83231b4381</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StopwatchMode</type>
      <name>mode</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>af3efa6947ee4d6cd41ea49beef8a19ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, PerformanceData &gt; *</type>
      <name>records_of</name>
      <anchorfile>classStopwatch.html</anchorfile>
      <anchor>a75a93ed1c2fef2a764939b67ba656df1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>StopwatchException</name>
    <filename>structStopwatchException.html</filename>
    <member kind="function">
      <type></type>
      <name>StopwatchException</name>
      <anchorfile>structStopwatchException.html</anchorfile>
      <anchor>a31b6ef9b2d2b64d6d2c1fd5e744bf92b</anchor>
      <arglist>(std::string error)</arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>error</name>
      <anchorfile>structStopwatchException.html</anchorfile>
      <anchor>aa356b0e9ebc7c6b0048ba0557b6391aa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskActuation</name>
    <filename>classtsid_1_1tasks_1_1TaskActuation.html</filename>
    <base>tsid::tasks::TaskBase</base>
    <member kind="function">
      <type></type>
      <name>TaskActuation</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuation.html</anchorfile>
      <anchor>a8b99e8ab8d8c69f84a92ae597cf2984f</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskActuation</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuation.html</anchorfile>
      <anchor>a82fc52a01ba8a3914515894f7165e2b1</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskActuationBounds</name>
    <filename>classtsid_1_1tasks_1_1TaskActuationBounds.html</filename>
    <base>tsid::tasks::TaskActuation</base>
    <member kind="typedef">
      <type>math::ConstraintInequality</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a8a325d149140dc85c7e1892b9a302de9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a76f61954e644694c97bff047b4a56779</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a5f10ab1a1a8885d9001a6ae4dd760468</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a972efee79768b5b136d94434a90e35c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a80445bfb9da244e2604468f0431ad3f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a93f93f8ef4cc4021240704fd8844ae4f</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a9891e70d4f99315aa9d3660ddc061f14</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>ad603386c2f2333372af78dc0f4305707</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getLowerBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>aac035e909ada5ed77d817710667ec500</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getUpperBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>aa68bbcd88b6778cafece766eeed11dad</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a80cc440bda159cd29ddfd1231f9eab29</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a5d80e077d6b5eb7c38313b2be0cec04a</anchor>
      <arglist>(const Vector &amp;mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>ae039539c147e53df8205b46d7ef21f04</anchor>
      <arglist>(ConstRefVector lower, ConstRefVector upper)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskActuationBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>aff5a5e97aa9a157129d0066054bf6a17</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskActuationBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a7ab8d1317a5827a66876c70f2c30084a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a9687fb7652b1008434abe79835902c19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXi</type>
      <name>m_activeAxes</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>a8ec9fa4b69c2b1354927f83a7182e6b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintInequality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>ac4e0bd1a0f776efdc8131c00fbfd64f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationBounds.html</anchorfile>
      <anchor>abf185ce0e6242572b988b2c25bb328e6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskActuationBoundsPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>a13dfd1438f0827b0e3aeb19c3f1bb49c</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintInequality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>ae0f59bb125b64ad186211576ddeadcc7</anchor>
      <arglist>(Task &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>adf7f9748f7a6afb6f4f5de03ab25290f</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintInequality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>a9bc15f28cffc573d1e77e0aa0a55c9f4</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getLowerBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>a14bcbcf243bd8c0955eeded227b916fc</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getmask</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>a2bc5f4b4b5af12acf22aa44ea7c40bb8</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getUpperBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>a28810c0b3fe0f874e3a7907102a3d835</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>ae3e40e404caed4e5a13418aa8d8035c9</anchor>
      <arglist>(Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>a908b2c3f67141290c9b09d649f2c0371</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setmask</name>
      <anchorfile>structtsid_1_1python_1_1TaskActuationBoundsPythonVisitor.html</anchorfile>
      <anchor>aad1214a7644f2191358c3dc92de59239</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd mask)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskActuationEquality</name>
    <filename>classtsid_1_1tasks_1_1TaskActuationEquality.html</filename>
    <base>tsid::tasks::TaskActuation</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>af716997a7bc98a9b7652b4ef79472ce4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a18af1cff9efe2ee9396604608ff82f8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a907a189f9f64cc246831661abebdf5d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a2eae3df8e329ca8f8559307b05c113ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>ab9250a1fd03304773375fab8226ec182</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>aa73006e378e65cf342de1bae150584e9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>ad529ab31c87b73392824bfb899afaf36</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a6a7d855cae7aa9c78bd37579431d178a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getWeightVector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a288cca56d4471446fa5084330793dad1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>aabed708b495e4c8368cd206f6ad66897</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a5e2158453a9deecaa295a186e3ced1a4</anchor>
      <arglist>(const Vector &amp;mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>aa85304066bf7042ec252d130207c6ae9</anchor>
      <arglist>(math::ConstRefVector ref)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setWeightVector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a01744ca8cefc562583b7404f4cf8f3e0</anchor>
      <arglist>(math::ConstRefVector weights)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskActuationEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a2b2eb90df6084f9d4174771c54336667</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskActuationEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a06df4d30bcbd7aeb48a3a59f16d0028e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>ac9741e9d4261e4b3a4c4fef1d85f1ecb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXi</type>
      <name>m_activeAxes</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a2e738df88d04d79264cd5542381b9a34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a6d08e669fda3053154867f7762b1befa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>ab9c3817454d381d23b8444aa2b7d44e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>a76955a078a5170a468c6ef080f362f47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_weights</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskActuationEquality.html</anchorfile>
      <anchor>ac598d3b042d9886617267274489c0120</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskAMEquality</name>
    <filename>classtsid_1_1tasks_1_1TaskAMEquality.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>afe335ff7154130ea11f4a451167ddc7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data::Matrix6x</type>
      <name>Matrix6x</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a6c6b2f5d18d1b967cbeb6a09c105bbf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>aa8633fab2dabe568d73a21b06af721ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a0ecbc9c000caf58e1c822c31a532f6d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a9ef3b32e242200ecc2ef460e6e49cf28</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a1b7dc6aad05add5619d8122a3be59a5a</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a76b19dc9ba5ca62216f5385d86f6705f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>dmomentum_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>aa004da1f697d24064b12361ed2a16e8b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>aa75fee9bae5e0a64fdfbf3243995919c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>getDesiredMomentumDerivative</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>abc278abceffaa9634701064e5bcc9b7e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector3</type>
      <name>getdMomentum</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a9a161fa113ff3dba63a2344a1575ccb7</anchor>
      <arglist>(ConstRefVector dv) const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a9a857a2b18fc88cc6956550910308dea</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>ae1cd5e2b18c951381528abf010733440</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a80ca3d62887178b492a170a08684e2dc</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>add6dc447ba80b5b4dc9950fe3db7b6f9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a44d815b916f67a1720dc9d75cb244b74</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>momentum</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>affec8f09809dd757b207323c3fb815bd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>momentum_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a5c4570fb5ce837c5475b3c1208aef624</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>momentum_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>acf95016cca73e1a22eae289186edbbe1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a611217ea65d20fad2af1d9c16eda89ef</anchor>
      <arglist>(const TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskAMEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a19b1e3dca4558fb29e6a766a3782b62c</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskAMEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a2eff9240b65c2c20c9ebdec3e6add73b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a83c1e38fa116a5fe079d9b9d2da94c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a28912e6cc61236189724c3dd395a2543</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_dL</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a0c3d6a2fc8e047a5cd45484a534770cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_dL_des</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a084e203cf5851ca8aa5b3e9976c38582</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_dL_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a8ac6a98bf5c0ae78747ac087cad3a15e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_drift</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a585f5630cda089c04fe7ee2bca2a2db1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a6ed7120b05977687da7933c960762f66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a61839a81067814b01503062265631767</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_L</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>a0f0cbbdb2196da59d4396f9124835fad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_L_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>aa916f6dc25bce94942126df75a3b0f05</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskAMEquality.html</anchorfile>
      <anchor>ae54bd3eda6044fe9f31c9fed1fb5268c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskAMEqualityPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a7f80b5ca29cc116b1df6c42de1f45806</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a6ec03207dc4e6fb24283be6b3af1fedb</anchor>
      <arglist>(TaskAM &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>dmomentum_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a282bfeb909db94ce06164583f2c0960f</anchor>
      <arglist>(const TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a6eebdfb0345226c937e2a087d085efae</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a9a619a50ec25dbe7e213eb2a310f6c0e</anchor>
      <arglist>(const TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>getDesiredMomentumDerivative</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a1e5d2407395cdd9d98bd21eaa0cd99bc</anchor>
      <arglist>(const TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::Vector3d</type>
      <name>getdMomentum</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a68b9289f5d06162e1fe86401e2b92ea7</anchor>
      <arglist>(TaskAM &amp;self, const Eigen::VectorXd dv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>ac358e5b7bda84b467affe5c4813bda6c</anchor>
      <arglist>(TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a3078f7bf9f90f2668b157b6e32028bfd</anchor>
      <arglist>(TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>momentum</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a62cecdb3be01458017050667be5c7548</anchor>
      <arglist>(const TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>momentum_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a79e16f7c5fd4c6662c3ce493b83f3360</anchor>
      <arglist>(const TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>momentum_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>ac32af6ea1235816911bdc608dc031558</anchor>
      <arglist>(const TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a936493e23aa8c8ac16136ff4d7327e78</anchor>
      <arglist>(TaskAM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>aaa11100a8bbdcc834d46e7436accc694</anchor>
      <arglist>(TaskAM &amp;self, const ::Eigen::VectorXd Kv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>a57bc7e62feae24551ba5b7e1d61a6f27</anchor>
      <arglist>(TaskAM &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TaskAMEqualityPythonVisitor.html</anchorfile>
      <anchor>ab7c5a4cb80fdbe9182a7c931a5327603</anchor>
      <arglist>(TaskAM &amp;self, const trajectories::TrajectorySample &amp;ref)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskBase</name>
    <filename>classtsid_1_1tasks_1_1TaskBase.html</filename>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a61462750c8d1f14ecc300edc625c0521</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a9d3c77cf3228783c9e2067cf55f41418</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>robots::RobotWrapper</type>
      <name>RobotWrapper</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>abdd58a727dec3228a879b86594e82b74</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a98cda6607b5f605d67feb0f3874472d7</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>ad3207f7dd91d9a8d48de5a7df2262931</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>aa3d2b7a395a2e3a5193d0fd6345a48c4</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type>const std::string &amp;</type>
      <name>name</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a1868090489f7961cf8b73ae07abd9ba9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>name</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>aa6fab160597ff330355ab4e02027901a</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskBase</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a8c45284f023351f9e7d0703cc08a0bb8</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskBase</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>ae37cad7d68c0674701a4423a89eaa4ea</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase</type>
      <name>ConstraintBase</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a54ff436c63b3e513e7fb1c79dda77a70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a0c4bec1659c22857851c5ca09fd4ac20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RobotWrapper &amp;</type>
      <name>m_robot</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskBase.html</anchorfile>
      <anchor>a1428bcfe74d5ed3e816d561d35bbb0b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskCapturePointInequality</name>
    <filename>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintInequality</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>ab68aa5a6321844ef5270e95d31a7cdec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a60388dcd22846dc4da1430df1dab9e4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Matrix</type>
      <name>Matrix</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>af618ff1291fdec5ad3ca1bc64e472978</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>aea9934a660e6d1ef4f9c12beb200a386</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>ac0b6fd9a57a099fd746b5381ba5c87e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a813f3105b28b7075d62701622bcf3c96</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>af0bc1cf0efe740a6101d240b4b08cf74</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a8c92e353f4b4458ab16a63f866d06622</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a7cbacc44761d4eb0bb3f02a1ebf8479a</anchor>
      <arglist>(ConstRefVector dv) const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>ad0345d320b828a23c22ef08f27a2e825</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>addcc9f2f35b202fc760f59af1fb86546</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSafetyMargin</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a54f34275e7757cf8d81d9f912b575146</anchor>
      <arglist>(const double x_margin, const double y_margin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSupportLimitsXAxis</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a4c2c7d47386db8b1d5847e1805745064</anchor>
      <arglist>(const double x_min, const double x_max)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSupportLimitsYAxis</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>aa0de8e3fbd60e9fe5e647b2546506aab</anchor>
      <arglist>(const double y_min, const double y_max)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskCapturePointInequality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>ac44bd545c338985d9668b10b251991a3</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const double timeStep)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskCapturePointInequality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>aa3411d8c95d854a402249e6a9d71f976</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a7378545601c2e2b64841526214a15b09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>b_lower</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a16a32df78f31f02004b5b6501a8426e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>b_upper</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a872ae4ef841642c8d41577d919916acf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintInequality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>af75660a1123288d508990942edac19f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_delta_t</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>accc822faeae1e73e842e6b14a9bed542</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a137d78223e10953aa4291b8313d85fa4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_drift</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a47bae90ed4c8b4c6d960b4bf74a273a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_drift_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a0f7bef39f3a9ffdef96ca366458bed67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_g</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a5206c24ff67e4db5028ba6af54f54e8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_ka</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a8477cbacc140a92f3c7f88f710db4528</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Index</type>
      <name>m_nv</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a0c9ff00f3ec228a20764abdb1cd1ffaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_com</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a971d8314aa34341687cee3e154585636</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_rp_max</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>af00b968f383269a92fed1b7cccfbf0d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_rp_min</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>ac4ad52b8baa0544270c2246ba8f335c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_safety_margin</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>ae06c95d8d72fd749dc7a8ea2d18cb57c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_support_limits_x</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>abcd210911ea912636e6850581f32d2bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_support_limits_y</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>abf6f9aa1340a7146c49666fde040afb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_com</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a49a1a5bbf64ddb8ae76b373bbb12c103</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_w</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCapturePointInequality.html</anchorfile>
      <anchor>a9958c4292ce05d6ebeb1a538a1e401df</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskComEquality</name>
    <filename>classtsid_1_1tasks_1_1TaskComEquality.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>acc48eaf45cf5782c6445fd61fe2c793b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>ab555a4b09fb1bfe2ef95644cfed50b28</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a1b5220adb1c262d86765c13571430be9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>aaabb6b7aacbf1d1fd453c9d56c781b00</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>ac2b81145449dfdcca1b2668b81e2bc0e</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a830311095457a890360f0c032e9ca31b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>af9bd50dd5775bd680c416b1b6365a11b</anchor>
      <arglist>(ConstRefVector dv) const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a257cc4b1b620e5f550a5bee847e42635</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>aeef9f1f78c1a20dff4c4cbbf5e19be2b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a62149be194169f10b9f5679754ab4670</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>af6828c22d90634f809ea68419c410ee7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a7964ce65ac49d072c15d6c84001a8a96</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a4d9425b4f32f46b3dfd0470543b32801</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a0c5240c28176a5f7d7ae6c0e5af56fa9</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>aaca884cfa701d7cab41024d20ad8f156</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>ad3e55a0dcc673cc887a11297adecadee</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a575bde10d84ee1ece07fb999868ca391</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a2e691a59c299a4b6d404956b0047ae10</anchor>
      <arglist>(math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>ae6236365afb1a5b0cc153db1c027b9c1</anchor>
      <arglist>(const TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskComEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a23b4be28c310352db6a70247ec7b4b55</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a1a4c01a385d8da1a286c58295b0d38a1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a19c1fdc2cf840dde3adfca2cc58438c3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>acd7f7ceec4dbab2a3aa553a784f91c2c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskComEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a944055f655b79d5e3ae62d9ced274f32</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a5f85b6b06e4490e9cb5bc3b57b7bb445</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_a_des</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>ae162382a5e173f55a25195cb3202d708</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_des_masked</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a26c0a9afb5de9096fb0ed14911518547</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_des_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a72b5fdab0185f0b05f3a4e1a01c054a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a145a6acf6e7f84d16f5b61d349b1b737</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_drift</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a8695362348c93c4414e96caed9459ff0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_drift_masked</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a014d9cba76a38b526387fadc0aa391a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a00c55e84d71d9a80e1bd67e3cac865f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a77c188b4fc6d5776f131811cf86f01c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_com</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a6d77c03097dc37a4c6b047ca383ab885</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_p_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>afff03c73c80dcc5f48afede2b8d54b3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_error_masked_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>acb557d729dba358ae6c5592507ad4054</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_error_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a4ccc24483e439cccf560de928f7faf4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a0e350019a5eddbaa6f1b9da69191091d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_com</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>ad9bec67f7a84c0192ad36fc56511f975</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_v_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a517c6dae3c9743ab655b8d45188812f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_error_masked_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>acd25639a21c65022cb64298550d6f803</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_error_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskComEquality.html</anchorfile>
      <anchor>a70166afae733008e95e0823814e9f8ed</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskCOMEqualityPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>abc1e71a3e5df4ed063b94009557f8fbc</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a5c09c4e24aace59e28678dba131cc289</anchor>
      <arglist>(TaskCOM &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>aed7ba38c77631b467bfb430c7210ff09</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>abd2b7fc7055bebc458e5e0202936125c</anchor>
      <arglist>(TaskCOM &amp;self, const Eigen::VectorXd dv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a5f212cf7d851f21876ad2d8865906cdb</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a474f33f0f124139d6e874cf482b090db</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getmask</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a5945cdabae4e26e74828cb8789e5c334</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a1334f4c23103c56001f6f7bf692f41fb</anchor>
      <arglist>(TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::Vector3d &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a4a9d0256cc098acf82ac6b73c9e1a46f</anchor>
      <arglist>(TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a43cda2d8639a0bab594b4466d8ea9000</anchor>
      <arglist>(TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a49a5c48ee608212f800fb5b322c03880</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a21ff7e7b6c98bcc0a2d61dacaa8058e7</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a64dd90ed2024d6e364c7f7857da93df1</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>ad287c0b131fa3c0b854ec49df7e7a1a3</anchor>
      <arglist>(TaskCOM &amp;self, const ::Eigen::VectorXd Kv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a6ad3f5818eb17d5443de0aaaf5c2234e</anchor>
      <arglist>(TaskCOM &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setmask</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a8c828713efc8d34208ec439d3f2ff204</anchor>
      <arglist>(TaskCOM &amp;self, const Eigen::VectorXd mask)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>abd300d527324320d61b630c2ddab6749</anchor>
      <arglist>(TaskCOM &amp;self, const trajectories::TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a063b68e3dab695932648edde209b51bb</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a77f40d2738cc4b549d86e92e382e6411</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOMEqualityPythonVisitor.html</anchorfile>
      <anchor>a0187d725643d43051511238e3a392fab</anchor>
      <arglist>(const TaskCOM &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskContactForce</name>
    <filename>classtsid_1_1tasks_1_1TaskContactForce.html</filename>
    <base>tsid::tasks::TaskBase</base>
    <member kind="function" virtualness="pure">
      <type>virtual TSID_DISABLE_WARNING_PUSH const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForce.html</anchorfile>
      <anchor>aa718ea3aa049b152a63495daddc2ef6d</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data, const std::vector&lt; std::shared_ptr&lt; ContactLevel &gt; &gt; *contacts)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual TSID_DISABLE_WARNING_POP const std::string &amp;</type>
      <name>getAssociatedContactName</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForce.html</anchorfile>
      <anchor>a21529a9602e6c7429ae356edbc90ae4a</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>TaskContactForce</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForce.html</anchorfile>
      <anchor>a7d784bafb24a00a38eabf2f7a88fcfed</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskContactForce</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForce.html</anchorfile>
      <anchor>aeaa6865ab63a0539ba6afc7d0261fe1e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskContactForceEquality</name>
    <filename>classtsid_1_1tasks_1_1TaskContactForceEquality.html</filename>
    <base>tsid::tasks::TaskContactForce</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a84f75aa4f949dcb857c7b6774a2a96a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a15bbfed4e6bec3d4f71ff42a58e92e3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a61087b2ef0b60dfc56b22a8177abd50e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a1259c263a020bbc6f0df55e2b4df4d82</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>abfa081ef6c9cfa85aeb80f354e8e1a2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector6</type>
      <name>Vector6</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>ae28a3dfd96cb41c0f98fd872425c1390</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a5aa48f1412b32211243191fadef7e7b7</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a58d3c5cd8df8d9f216886bc7f6a3cacb</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data, const std::vector&lt; std::shared_ptr&lt; ContactLevel &gt; &gt; *contacts)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>abc569139a7e51630802732c546328b32</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const contacts::ContactBase &amp;</type>
      <name>getAssociatedContact</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>aba34f4c65a12df5ccea93157785a394f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const std::string &amp;</type>
      <name>getAssociatedContactName</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a756dded9dfe2e73b9a8017a45a7ee585</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a4e256f83757e4657c1ed5c20a75d6e26</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>getExternalForce</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a396ab0c508e8fbd539ea9c2d108345ff</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const double &amp;</type>
      <name>getLeakRate</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a67570c1f3b50e4643e02c2953ad7c2f9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a08c6e7888d655e24c93dd3f199523ad3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a63dda202ea6cd065bfd555c404479493</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a8c8f9a08ea85a57f3c1c345c7699c6f3</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Ki</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a68fa0bac61f14e1821ff3e71795cdfe8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Ki</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a550f4894c3c2607b9b9bcfa29bb4eb7e</anchor>
      <arglist>(ConstRefVector Ki)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a32c33341faef8e65b4136699c366f133</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a5ee695cdbea1d189a4350ed2147616ca</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAssociatedContact</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a57535f194baa6de414e71b1a674d1f87</anchor>
      <arglist>(contacts::ContactBase &amp;contact)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setExternalForce</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a2363422d98f532ae0fa1cf1f4445078a</anchor>
      <arglist>(TrajectorySample &amp;f_ext)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setLeakRate</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>aaad54168c45c9f13c6200e705cdd91f4</anchor>
      <arglist>(double leak)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a04c9e0483617ed75348e94cefd0fc6ce</anchor>
      <arglist>(TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskContactForceEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a95b4f08bebc992e65b45c8fcdbcd3b1b</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const double dt, contacts::ContactBase &amp;contact)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskContactForceEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>ac7665c1c4406716470b5c7be187735f6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a91af3da5428033890c0330c01c9a9fdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a5ceb1202256816f0b88286dbf4efb64a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>contacts::ContactBase *</type>
      <name>m_contact</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a67c6aeea6e497372d4398e3f63383101</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_contact_name</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a67c6fa1016a5e4ab07465d8d82790f4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_dt</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a65cb84865b124cc26ead006b1978bdda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_fext</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a3133c4e5ffc5f161303aac7a15e8ce30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_forceIntegralError</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a484f06147e65e4cc85da7a67b132d352</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a482ae9d87edd5fb496988e68dfec7dd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Ki</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>aecde071e092e56f6926f74381ac6f510</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a9c032904aa9f344e255fd07e92b9416d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_leak_rate</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>ac5022b93de482d856aaf18b6799e814e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskContactForceEquality.html</anchorfile>
      <anchor>a2e5e1cd8498bef9f3ca043112c49805b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskContactForceEqualityPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a872631aad1edb4fd1eea08093b677958</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a16da11b6c4da4218a34072075cd40dd5</anchor>
      <arglist>(TaskContactForceEquality &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>ad16d5d71e4b24407880fa0b074213702</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>abddb10a4987d7a9af83ce4d6f9231b2f</anchor>
      <arglist>(const TaskContactForceEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const double &amp;</type>
      <name>getLeakRate</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>af03649a5065311b35e5f47e03df107de</anchor>
      <arglist>(TaskContactForceEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a2d8c06ff3b4968b8de67a1072311403a</anchor>
      <arglist>(TaskContactForceEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Ki</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>ad1462fd0248a97751ad354131068a4ee</anchor>
      <arglist>(TaskContactForceEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a57fe195a705de325b37e4573144b1406</anchor>
      <arglist>(TaskContactForceEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a67d95b8f2ea5505fcf81ebdb0cbf741a</anchor>
      <arglist>(TaskContactForceEquality &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setExternalForce</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a9fd09eb111f20cd86c63d289828d4ff9</anchor>
      <arglist>(TaskContactForceEquality &amp;self, trajectories::TrajectorySample &amp;f_ext)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>add71326d16717d92e2178c50dbc192c5</anchor>
      <arglist>(TaskContactForceEquality &amp;self, const ::Eigen::VectorXd Kd)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKi</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>ab87d9b8e81c55e368a2e3cee46af193c</anchor>
      <arglist>(TaskContactForceEquality &amp;self, const ::Eigen::VectorXd Ki)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a879a8162f92fc3e3e6b0e6f31b4c9171</anchor>
      <arglist>(TaskContactForceEquality &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setLeakRate</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a31f8a49d595a5b19004db05402165cdc</anchor>
      <arglist>(TaskContactForceEquality &amp;self, const double leak)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TaskContactForceEqualityPythonVisitor.html</anchorfile>
      <anchor>a62c59d3d4c94a9878b954b6106d87a58</anchor>
      <arglist>(TaskContactForceEquality &amp;self, trajectories::TrajectorySample &amp;ref)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskCopEquality</name>
    <filename>classtsid_1_1tasks_1_1TaskCopEquality.html</filename>
    <base>tsid::tasks::TaskContactForce</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a7fb9e331de8b873d5eb7940cbb6cc206</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>adaea1214536c03cd17d183c26a8852f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>ac9451c8fbb2ebcc430c6c552f8265dec</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a1c867ba63c54975c780fb10ba399d9a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector3</type>
      <name>Vector3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a84969690b04477d0aa416f16fd877ace</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>aad7b51fb6a9b37ad724c919eed8c1f9a</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a7171ee8626813d8a429b0c24499e81d7</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data, const std::vector&lt; std::shared_ptr&lt; ContactLevel &gt; &gt; *contacts)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a5be666da05df0c4096523821449868e9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const std::string &amp;</type>
      <name>getAssociatedContactName</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>ae111dbcb3fe29995c92b5b53c6068e90</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a9cc341210ac85f37f3f734490ef21673</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>getContactNormal</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a5019ceee7f42ed233c2f621faa695d13</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector3 &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>afed39da1a4d81ca5c3a8b634be8fc325</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactList</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a78b496c6ed8f24e387fa46f6aa6dd81c</anchor>
      <arglist>(const std::vector&lt; std::shared_ptr&lt; ContactLevel &gt; &gt; *contacts)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactNormal</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>ac62c7bfdca5e0e4979c216af1fef1202</anchor>
      <arglist>(const Vector3 &amp;n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a809d5f3e7b549fdda614bfa340ae54f7</anchor>
      <arglist>(const Vector3 &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskCopEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a814ff68554cde31df757bb14ed9f3ae4</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskCopEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a126f65a8621ee567cf0b4322a217178d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a265a99cec8f9db7b29c81264c26e0498</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a5c78c1cd1ff6a2d9e240b9410f101dda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_contact_name</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>aa2e5326c0d0c1c55a329da04fbca6b5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const std::vector&lt; std::shared_ptr&lt; ContactLevel &gt; &gt; *</type>
      <name>m_contacts</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a32f75c557d93adc098c5a4f5ec85af3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_normal</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a1f3bfb2f35eb200dcd867322be9f1475</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector3</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskCopEquality.html</anchorfile>
      <anchor>a9c716daae1de86e5a973fcaef105eb5f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskCOPEqualityPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>afd0ea6d83c7b4aa46bc264b244b2ddea</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>a0eb0636b578f90726fc4485b60c41409</anchor>
      <arglist>(TaskCOP &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>a910735f438428ebecc348e3f9c58ec5d</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>ae0f02821954367b0f7a45e8dce2cc974</anchor>
      <arglist>(const TaskCOP &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>aa78c4066eb6bbe91840f577c8e0df1d0</anchor>
      <arglist>(TaskCOP &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setContactNormal</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>ab3f2958439bcf74babefe0d2fe4220d6</anchor>
      <arglist>(TaskCOP &amp;self, const Eigen::Vector3d &amp;n)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TaskCOPEqualityPythonVisitor.html</anchorfile>
      <anchor>ab21572edd9ceb8915c30d1b0247298e0</anchor>
      <arglist>(TaskCOP &amp;self, const Eigen::Vector3d &amp;ref)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskJointBounds</name>
    <filename>classtsid_1_1tasks_1_1TaskJointBounds.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintBound</type>
      <name>ConstraintBound</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a037c3b7bbfd880aa6dcef044b61a8df3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a96cf699cb2f8881bb586ac737bb767dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>ac8cf3d1ce2dfedc6aa0aa452d384d311</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>ac777d3da65d6fa4fbdea955035284e43</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAccelerationLowerBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>aded785f2486bbded2e581b26d4dd7b65</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAccelerationUpperBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a83d568750b8ef04a56a74a9ce79508bc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a6682f89b43f8444e661a7d77722ac599</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getVelocityLowerBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a4b6c8ed796cbf603aa36310710e7f2ef</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getVelocityUpperBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a3396c7ffa39cf21546d8c7ed16d1961a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAccelerationBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a83f929add65bd885a3fb213133c8cf97</anchor>
      <arglist>(ConstRefVector lower, ConstRefVector upper)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a82a11c493d30722d05ff0d97eb090903</anchor>
      <arglist>(math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTimeStep</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a1cf8ee686e26f17bf92061ca31f2908d</anchor>
      <arglist>(double dt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVelocityBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a52bdf4137e16244285c434c8b04dbf34</anchor>
      <arglist>(ConstRefVector lower, ConstRefVector upper)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskJointBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a573dfc700e3ba637ce3035652eb07c6c</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, double dt)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskJointBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a36d9d4f0fbb66126a1a56e9ac999311e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a77c99dabc60f3ce86b51aa582b087e6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_lb</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a400caf39e9942c05498b0e7ff9dff932</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_ub</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a13180a9da9f95167051a27240c423683</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintBound</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a226d93df3b4a10842d5ff3ac47d98e73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddq_max_due_to_vel</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a702f2402f7d2637a8f2d9df5f2eb4ddd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddq_min_due_to_vel</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a617b8046b1e428475621fab45287b8f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_dt</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a3294d2226f662078f8b59e4b1a05d106</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_na</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a64a9fd74cec9e34e0fefa9bd79316521</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_nv</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a7f9f02e1447bb5ac9c1d3ec08330699a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_lb</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>ae0d60e8643d5dafb8a93ba8ae14ecb93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_ub</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointBounds.html</anchorfile>
      <anchor>a082886cb03ad95d8d694e47541902628</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskJointBoundsPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a7e6189b0ca78f64302ea3f48c874bc52</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintBound</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>af11aa07bb06cba116474909639a3c744</anchor>
      <arglist>(Task &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a4c68d526ae0e0359baa7e06d4e8478cb</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getAccelerationLowerBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>aebc3420fa35531edb3552363e45d2a0a</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getAccelerationUpperBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>ae874f86b82b718d84a7d78f234072a70</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintBound</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a035bacaeba8249ebf6d59e473bc537a6</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getVelocityLowerBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a01e574932ab70a69fb2246eb3c339ebb</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getVelocityUpperBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a2cb04ef814bb50a4748c476f850871c9</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>aaea8251e5c223b9dc6ec381db2e4993f</anchor>
      <arglist>(Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setAccelerationBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a145623a171284cfadf83c219cdc20eb3</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setTimeStep</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>ab079a9274ae83b7d53a014079152e296</anchor>
      <arglist>(Task &amp;self, const double dt)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setVelocityBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointBoundsPythonVisitor.html</anchorfile>
      <anchor>a6f8144fddcbb12b0d58ab01556a8edaa</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskJointPosture</name>
    <filename>classtsid_1_1tasks_1_1TaskJointPosture.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ae65ff155bb02981c1814d95f94f36b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aaec716b44c7dbca4fd0e65646435cd8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a0c820e9af090320141bfb446cf87ddea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aa5369db2e7647f47aa298d185d364120</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ae8495a1fe569ac6cae8e3ed2fe8b9faf</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a684b3252e19659b2b86391b479ec21ea</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a302cad0f83ed7cfc78690c469160127d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ac64467f40e1ebbdf25e77f205998f8d3</anchor>
      <arglist>(ConstRefVector dv) const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ab9a22bb6b4d31b97cfe4a79e1eae96da</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a26e995fafaa9f1aa98343366df18d321</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ad8a5bff89318a168f4a14f4ad4d8bb1e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a60127a4284aa8cfc4613ec9c2c22b195</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aa982df37512be786db9fe585725e2572</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aa35c5bc35910d98a2df1af01a57f4119</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aa551dd966a0cf25087a4ba677c7bed2a</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED const Vector &amp;</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ac3d44fdaa78284a9ff677c5cc8dcf216</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED void</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aec0c1396533df21f70dabfd147b2c15d</anchor>
      <arglist>(const Vector &amp;mask)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a06f5b58b1bcddfb55c690ddb2f682249</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a3b39c3ce08074eca7eb2a56c4961376a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ac29ffcf63e6da7386ed8d77b25ccc1f7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a7736182dd8c9ac7f6c7c42a0e266f8aa</anchor>
      <arglist>(math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a2109f4693d4d6c5d19f42d70b3a8baeb</anchor>
      <arglist>(const TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskJointPosture</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a95bce5d11238bd2b684730a0daf1d838</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a18e2a97b163a46f85b98a93fac3a6180</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>adbd87c44cf269b32994ee0a9745efa8e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a398f54300424ce74340c403925b4fe3f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskJointPosture</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a30d8da2c2de4a42be362b8f74ecc8589</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a4ce24010c4d8c84b33031e226c808d91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_des</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>ac4ba3f8dbc7869f93b41a3f0cfeb8b39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXi</type>
      <name>m_activeAxes</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a9e1ebd593f9fdbbecb2927575f767577</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aadd3bc5ed5a71c9d26a20ff9e76aabac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>aef00ceef4f2a95429c59ceb00484279d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a0a7aa1a98653d62a05e8c52fdb798fec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a4ea2c4877b17a476ba6622700be55922</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a393e4ee2d34c67403c9e7f015072193f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a1c9e2cde7605012fb13c16fc8ccc4521</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ref_q_augmented</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a3e2d898d55bed37e83f8f9500ebd9d5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a77ff7777480a2b085c75facab424db84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosture.html</anchorfile>
      <anchor>a913939a1f513bda2b8aba4c6fc049f64</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskJointPosturePythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>aff59de9cc5d570a00309f0154db66de5</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a69df43b103d3c07d243159a6351feacf</anchor>
      <arglist>(TaskJoint &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a6a0dd4c081b162e1955b7cabcfd9478b</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a0ce6e0425273cdeb14b9b18d9fb35ebf</anchor>
      <arglist>(TaskJoint &amp;self, const Eigen::VectorXd dv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>ab773fdadf046cc424fd1cb224e1b1fd2</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a0f9c8fe2dfd9b6b66ce3e939496fa0da</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getmask</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>ab1128f100953108bf603a05eeb4ff33d</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>aa828188f4cc3801a1718fc3196a0ce8b</anchor>
      <arglist>(TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a24d7df7a2fb13c0c18be84b57f220b2a</anchor>
      <arglist>(TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>ae4cf39bfe04f20a55e627aebeeb7107c</anchor>
      <arglist>(TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a45763c8fe6ea7dc44c8e948f58e81a56</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>ac671f40c0ae2870299901817ef8e7fe1</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>ac7ebc4d5c885606dd0a978036d887336</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a9c438da42681b78a6db94dc0386b9255</anchor>
      <arglist>(TaskJoint &amp;self, const ::Eigen::VectorXd Kv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a5dcb1566b4e177546cec188550ce9eb2</anchor>
      <arglist>(TaskJoint &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setmask</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a74bfcf29c41517a5024d012ab514f0dd</anchor>
      <arglist>(TaskJoint &amp;self, const Eigen::VectorXd mask)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a24288340e522f603b91bceb1c3d46e7b</anchor>
      <arglist>(TaskJoint &amp;self, const trajectories::TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>afe436ef30112f235b4e286a93bf1ab2e</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>ab8a7c55561535276d57570a68f6d8a31</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosturePythonVisitor.html</anchorfile>
      <anchor>a9865bed7ffc721914d71a1e48c87d5c6</anchor>
      <arglist>(const TaskJoint &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskJointPosVelAccBounds</name>
    <filename>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintBound</type>
      <name>ConstraintBound</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a68505591298a570ed92dd95062ccade9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstraintInequality</type>
      <name>ConstraintInequality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a55513bb4d123603c747ecbb899ede4e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a60ff2ce007807fcbdfc579d5451164a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ad33b132f5a8cf3c6fb053b517f8b99b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ac62ab4621ce1943b60d8156b21911d91</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAccLimits</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a2395be4e970883a9c223076b956e21a0</anchor>
      <arglist>(ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAccLimitsFromPosLimits</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aa528371f5511d321614aabcf408f0dd2</anchor>
      <arglist>(ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAccLimitsFromViability</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ac19beb03e2488fd40236cb65bceb6197</anchor>
      <arglist>(ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a68681ad81d149c34a37120fceba631e8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAccelerationBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>af62bfbb906230331c689df4f580e7a7f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a5dd9a360ff63d83d40b6a802ba34c983</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getPositionLowerBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>af8067d395f9962f82c0eea9583780c00</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getPositionUpperBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aeefb06d4c8225af5e7225a12c3998c03</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getVelocityBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ac3ca804957961cb5ca67e66703e48bf2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>isStateViable</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a96b010c8c280e7ab3393117467189694</anchor>
      <arglist>(ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED const Vector &amp;</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1b925834f6227b9998865da2707b331b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TSID_DEPRECATED void</type>
      <name>mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ad5cb12bb1bdbf33cd5134645dd0bcb25</anchor>
      <arglist>(const Vector &amp;mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAccelerationBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a9fee1ed5a9c11a1a2a13875181df65a6</anchor>
      <arglist>(ConstRefVector upper)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setImposeBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ae52d2a218a962030b9ae99f9e1da2ff4</anchor>
      <arglist>(bool impose_position_bounds, bool impose_velocity_bounds, bool impose_viability_bounds, bool impose_acceleration_bounds)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a99503c147b85b34d6123309f19f0a76e</anchor>
      <arglist>(math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPositionBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a2be04b128d63ad3544dff7120d38f5e5</anchor>
      <arglist>(ConstRefVector lower, ConstRefVector upper)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTimeStep</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a46faaf0906592cb0829c26ca7001e4dd</anchor>
      <arglist>(double dt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVelocityBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a86bf06558457ebb74d007d68d8f99e87</anchor>
      <arglist>(ConstRefVector upper)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVerbose</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1295fe12ccb3aae7be784628ca8c1728</anchor>
      <arglist>(bool verbose)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskJointPosVelAccBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a0e39e9c91d37726cf6090861e65b4d8d</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, double dt, bool verbose=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskJointPosVelAccBounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a17e12062bafbcb566a44d8c87294f900</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aa32e2739ca19161a512695c30b44cc17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VectorXi</type>
      <name>m_activeAxes</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a69a2bcbe02c1081b87763b892931539f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_b_1</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ae4f5d8bf7a3889e85a29c2f90037a5cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_b_2</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a76ab882130e4262b1dd5c358e3a111f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_c_1</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>af724356cbcedcf22f867007deac7a4dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_c_2</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a3deb0884c7174de6a9f19296096f7399</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintInequality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ad7debb0bce019a99023ad7199c94a678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddq_1</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aff4bc88ad246a1deac84d134bc0cb317</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddq_2</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aaa83abab5fc6a388b0f7e34f1c722c7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqLB</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1ef5a3c302eb436a49e9da0622f2606c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqLBAcc</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a7406ed9d57ae16f2308a9c3f13798bf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqLBPos</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a4c0147cfcc2dc3ac3e43ef3e7dfcc348</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqLBVel</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a08a63ba525b00b71eff03a59902e5434</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqLBVia</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a5f55322f64d02f38e9bda479fdf128ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqMax</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a577d4f0f62d3fa49b8ae2b1f2baaafee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqMax_q2</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a3635189f84788f2cd17a29ada62b66c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqMax_q3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a6bbb651d9d35e3ab49087ad9f36867ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqMin_q2</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a6dbd21ffe2d0b8e602cea9075ac57436</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqMin_q3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ada6f554da3efd37a46d2a671be6d71ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqUB</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a791359d34a714410faac6cddf6d8d5c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqUBAcc</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ab24f22968c12460e3d83f2399b428fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqUBPos</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a7b8848fa5dd7e82f8a78b0f37842185a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqUBVel</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ae8560483c96e604543c297264f4793ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ddqUBVia</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ab8e4c1f378f92cd8752f54d7be801099</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_delta_1</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a504584f3222fb4be519a0c7365a44fdb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_delta_2</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a9b40e0c5d86786f05b54191ddad236de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dq_square</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a89bdc74f1979513f705c46413b1d91a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dqa</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a21f594e357c3659335da4061f657b87f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dqMax</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a205dd615137089568f9186483363c5dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dqMaxViab</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a69f828f7dfc09ca52decac68317b52ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dqMinViab</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a06d04a58d8d3457b93ddf07e066e199a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_dt</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a63744390decb6a87ad70f42fa83ace83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dt_ddqMax_dt</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a77044887439ba8dc5bc6f5abbac223d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dt_dq</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>abba29c0b4499507e50fcb8f21f2eb039</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_dt_square</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ab974185b375fb11f10c2f6ef063cae13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dt_two_dq</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>adaaab1b09be4de586139f4938494f73d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_eps</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a45060d3088de0df28c11ce04c574d00f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_impose_acceleration_bounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a2e36712de49e752a6d3a475fa521bf08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_impose_position_bounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1ea2a028aa3b5cd1f1b16fefbdb13be3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_impose_velocity_bounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ac8eba22558012b02db24b869c505b287</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_impose_viability_bounds</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a878439843e2f65cf1f6d13cfb87df3a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_lb</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1b255b967265ad32c42a01c93d058942</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>acca49edc254b1e60213e8cf71b7461d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_minus_dq_over_dt</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a40270aebeafac7072a0d056bcec4627f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_na</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a58b88355de1a629e1117c6c314800792</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_nv</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a46aa35bdff349b13d1fb612a74152808</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_q_plus_dt_dq</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1813660b13b4157e25c1be7f8a1384e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_qa</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ab297b9d2b84b34d86844edb4acd79250</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_qMax</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aa0f090383c09e29d173a1f686c984a48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_qMin</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>afe51483d4173bb891f88ec59aa8a1a0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_two_a</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a30811ac73ccc2fe5042daa73832cc4bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_two_ddqMax</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1a8577621cd0244dd1fc7cfce4547b9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_two_dt_sq</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>aadba6b5236f89362cfd5a5aa9b83fa16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ub</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a1b6f0ea2a51882b5865d40c639b98497</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_verbose</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>a4e88e29459a6a307244ffd511a8b46dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_viabViol</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskJointPosVelAccBounds.html</anchorfile>
      <anchor>ad2b225efd3f1e371def7d6c87978860a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskJointPosVelAccBoundsPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>acef65e2c7f15057fc3e6ebf6ec5415ff</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintBound</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a088b10ade7f8d49b559dd0e98f43ed48</anchor>
      <arglist>(Task &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeAccLimits</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>aea7b19ffe5b61e64ef8fb8564510d014</anchor>
      <arglist>(Task &amp;self, ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeAccLimitsFromPosLimits</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a921797607bcf077428fcc7e0cfeac438</anchor>
      <arglist>(Task &amp;self, ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>computeAccLimitsFromViability</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a141c3612bba956959ed2c9e3c2199823</anchor>
      <arglist>(Task &amp;self, ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a4803c8d5e01a6ca9432f7b10684f89e7</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getAccelerationBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>aa086b8cf9d4a2027033dcceb7d3aa5cc</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintBound</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a2fee5af40fdef3d77fff8801126630c9</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getPositionLowerBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a4394d0772a08df5d6e807fed024eadd6</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getPositionUpperBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a191741eb978360567f9058962ac61fc6</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getVelocityBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>ac74ec7625c6f76c4fe3f94ec05dbafc9</anchor>
      <arglist>(const Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>isStateViable</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a5ba0473ef0d92914c42a3ef0028435d8</anchor>
      <arglist>(Task &amp;self, ConstRefVector q, ConstRefVector dq, bool verbose=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a68306c01548229db38751494adba1b9a</anchor>
      <arglist>(Task &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setAccelerationBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a924c4f743e0ab56af5c73a8da9be0258</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd upper)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setImposeBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a310948e7ca2044d907b46ffbbc57c2bc</anchor>
      <arglist>(Task &amp;self, bool impose_position_bounds, bool impose_velocity_bounds, bool impose_viability_bounds, bool impose_acceleration_bounds)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setMask</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>abbb670e2ad2335a8c4a8beef0afc14bd</anchor>
      <arglist>(Task &amp;self, math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setPositionBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>ac46aaf190cd79d2d13a5cd1dff24fc00</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd lower, const Eigen::VectorXd upper)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setTimeStep</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>ad0c6000921bb80c005a409e846f95418</anchor>
      <arglist>(Task &amp;self, const double dt)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setVelocityBounds</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>ab085226fdd124c25180db9e4460bd735</anchor>
      <arglist>(Task &amp;self, const Eigen::VectorXd upper)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setVerbose</name>
      <anchorfile>structtsid_1_1python_1_1TaskJointPosVelAccBoundsPythonVisitor.html</anchorfile>
      <anchor>a4cc2bfb34594e9aac54fc89e6c876491</anchor>
      <arglist>(Task &amp;self, bool verbose)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::TaskLevel</name>
    <filename>structtsid_1_1TaskLevel.html</filename>
    <member kind="function">
      <type></type>
      <name>TaskLevel</name>
      <anchorfile>structtsid_1_1TaskLevel.html</anchorfile>
      <anchor>af5d016c77aa9dcf2e8183ce0f5da6eb3</anchor>
      <arglist>(tasks::TaskBase &amp;task, unsigned int priority)</arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; math::ConstraintBase &gt;</type>
      <name>constraint</name>
      <anchorfile>structtsid_1_1TaskLevel.html</anchorfile>
      <anchor>a8e84955e06ecab221cc9b7f61335f236</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>priority</name>
      <anchorfile>structtsid_1_1TaskLevel.html</anchorfile>
      <anchor>a7cda00e72596a02c1b72a2436f73f1aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW tasks::TaskBase &amp;</type>
      <name>task</name>
      <anchorfile>structtsid_1_1TaskLevel.html</anchorfile>
      <anchor>a88986b0c3220398404a94228871d2f08</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::TaskLevelForce</name>
    <filename>structtsid_1_1TaskLevelForce.html</filename>
    <member kind="function">
      <type></type>
      <name>TaskLevelForce</name>
      <anchorfile>structtsid_1_1TaskLevelForce.html</anchorfile>
      <anchor>a01d0950f40a7c036f812f6110a3b0213</anchor>
      <arglist>(tasks::TaskContactForce &amp;task, unsigned int priority)</arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; math::ConstraintBase &gt;</type>
      <name>constraint</name>
      <anchorfile>structtsid_1_1TaskLevelForce.html</anchorfile>
      <anchor>ae55769be420121a546ec93900fd4c003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>priority</name>
      <anchorfile>structtsid_1_1TaskLevelForce.html</anchorfile>
      <anchor>a1a4e0aafeb0fd4d121e8912616872aeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW tasks::TaskContactForce &amp;</type>
      <name>task</name>
      <anchorfile>structtsid_1_1TaskLevelForce.html</anchorfile>
      <anchor>af67b6c5c2447dd4cf54d3006e9598da7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskMotion</name>
    <filename>classtsid_1_1tasks_1_1TaskMotion.html</filename>
    <base>tsid::tasks::TaskBase</base>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a79bbd8dcee1c19659b1d7228c36b912f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Vector</type>
      <name>getAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a9d6bba9e1f51f84a042f690da1356ce8</anchor>
      <arglist>(ConstRefVector dv) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>afe012eacb3be024eb5db00b7d08c756d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>getMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a01945061167098a320e1963eb48ed955</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const TrajectorySample &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a870b21cd4cc40a7d1193f6015dbe7098</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>hasMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>adbf7d3dbada46dc80caeab68f45ca951</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>position</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a963932cd64421c83c7d9976d2fd3bf56</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>position_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>ae9b5bb41cac3847c38732631ee7486e7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>position_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>ad1ca1fa25ebbdf2a2cf01ad8bd23c8e5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a767ac568547b39a005d48d4002816e93</anchor>
      <arglist>(math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskMotion</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a797c71ed8976b8ab35574d75a0d5c391</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>velocity</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a4c8149660c21af16b459a7133b577655</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>velocity_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a611a4421c1b6308cee8c8a2ec1ade5a5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Vector &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a637e34fdd680693f8b96f8a85b976430</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskMotion</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a808024db4857ee0a0e9a1bc5d88aa9f4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>ac50ba8c564fc192b9886585c83de16f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_dummy</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a3251263cadc47995c9dd0ede7ef7fc62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_mask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a6989db46dab16b542a8d609d8cc3a576</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample_dummy</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskMotion.html</anchorfile>
      <anchor>a7c2fa6d7976230dab66fc6653915bc40</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::tasks::TaskSE3Equality</name>
    <filename>classtsid_1_1tasks_1_1TaskSE3Equality.html</filename>
    <base>tsid::tasks::TaskMotion</base>
    <member kind="typedef">
      <type>math::ConstraintEquality</type>
      <name>ConstraintEquality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a8bb0e1ceb044b5f835a4bee042262597</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data</type>
      <name>Data</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ad0ff89d11cac60831af7d06b5b6de278</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Data::Matrix6x</type>
      <name>Matrix6x</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a5e67b7ffc2ca8b8813bc74cf496b8457</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::Motion</type>
      <name>Motion</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a0aa25865ccdbcdffead5fd4a3a3f0071</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a09614b35d9a709fe614d87b9568d82a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a1376d2fea782f92b7c97415388099b31</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a46df5c56b3fdc82fd47d203c886bf396</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>compute</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a8b4d9c4268c1ccfdced73d9b800aa5b8</anchor>
      <arglist>(const double t, ConstRefVector q, ConstRefVector v, Data &amp;data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>dim</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a2b857c50f0fc9f3aa0f393b13e24cbb6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Index</type>
      <name>frame_id</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ab1048ced905d5bc7e32df1ff428fa05f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a0d45d68d6b9d54111e137b44d66e8253</anchor>
      <arglist>(ConstRefVector dv) const</arglist>
    </member>
    <member kind="function">
      <type>const ConstraintBase &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a879c03f18132367823c802c734fea855</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a89fcbbc75f99a5806fc4ef9567a9018e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>getReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>acd6493024d950cf3e4af5933ac1bcaae</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a8ffd7d46cb2aa182f42cc1e4a9c24491</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a5fe1f9074c322f7cdbfd57e929410311</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a0467fbf98d92837055e39040c16a706d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a658a7baf4563ffbd300e0f3c842ea15b</anchor>
      <arglist>(ConstRefVector Kp)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a0cd92762b33746229651d68cefe4dc33</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>af40fea7d91a6e73f02a0abe487e810b2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>position_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>abfcb3a9f6d64214a6613a1d228044a48</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMask</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>aa182e16f7941d5695a570d4d822b8b8f</anchor>
      <arglist>(math::ConstRefVector mask)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a7d762a3396b3bf5ab8aaf52bc058b102</anchor>
      <arglist>(TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a5cc211b8e252b4bf877f53a80266b254</anchor>
      <arglist>(const SE3 &amp;ref)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TaskSE3Equality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a10d6f88aefffef4db25e07313ade1602</anchor>
      <arglist>(const std::string &amp;name, RobotWrapper &amp;robot, const std::string &amp;frameName)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>useLocalFrame</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a75645efa4b3585bdae5c368ded3ca531</anchor>
      <arglist>(bool local_frame)</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ab07831b7cad7d37637375697fe39e63b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>abe00eeafb5b18af4a47cdd965071a519</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ae5715740f805efd57b9d0105cdaf903a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskSE3Equality</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>adc2fd878a26cb216ef3d5fa9d6d3a951</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Index</type>
      <name>Index</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>add693341bc335d867ec11ae5c26d56a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_des</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a73a9b56d44c00fb1c27b9869c9d2fac3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_a_des_masked</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>af50cd1e88aeffa4a956372ad3c7090e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Motion</type>
      <name>m_a_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a1f10d7674a3c087a0b903e55dd0b9a36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ConstraintEquality</type>
      <name>m_constraint</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a93d0f8f86ceefd22a4d5cf7b87ccda78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Motion</type>
      <name>m_drift</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a942367797157088a46eddcb229eeae2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_drift_masked</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a1061c8a7d80bc3adc62bb2aafd89b76f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Index</type>
      <name>m_frame_id</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a4ac9ff5a72c70c6a2fbf0416f3e233f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_frame_name</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a1d0eb85b761260d7aa76c663fef35051</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix6x</type>
      <name>m_J</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a1cc878e02eabeb283d9db33bd8d18de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix6x</type>
      <name>m_J_rotated</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ad9f43ac20a1d939cc71f871b8ef5746b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kd</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ab0e568b66d21a1e3696827caed991665</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_Kp</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ac13efa1a7c34f1ff61921b54c999ebb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_local_frame</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>adb316dee9bd1f3b0dc6b486d422eefd8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>SE3</type>
      <name>m_M_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a495665ef6053cddffb87c885c8c82dac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a93eb8edb3f5979c8c6ae4bb87811468d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Motion</type>
      <name>m_p_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>aa570c2f235d004f254657cbe5c006075</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_error_masked_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a356cc80f0f30966999609c418ba3e035</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_error_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a6fee60e61ab6942be45cae54d97e0af3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_p_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a0eee3ae5d7aac5b3d22e880eb81d73dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>adb590f0f2e0e11273a1d00a6e3330994</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a68f07cb607ff0d5b3f0cce2840defeb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Motion</type>
      <name>m_v_error</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a282fcd7e503a96cc55304e3126846621</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_error_masked_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a43cee803566b73f0a0886373c46d77b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_error_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a376891dd98de12b29c2cc32379bb66e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Motion</type>
      <name>m_v_ref</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>a6ac59fe5ab953df52da8cf63a729c146</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_v_ref_vec</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ad2680e424a494a427e8206e81041fa62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>SE3</type>
      <name>m_wMl</name>
      <anchorfile>classtsid_1_1tasks_1_1TaskSE3Equality.html</anchorfile>
      <anchor>ab1391f67217789b24729161eae4c1a55</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TaskSE3EqualityPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a4c8dcb0464ce90a556105056eae9be89</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>compute</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a321fbf6885e599d462dc1fa1f77a71e4</anchor>
      <arglist>(TaskSE3 &amp;self, const double t, const Eigen::VectorXd &amp;q, const Eigen::VectorXd &amp;v, pinocchio::Data &amp;data)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a74676dd97796e3b6ba35c62b53677c13</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>frame_id</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a104ab2f95c9c1b19154fde42314192ba</anchor>
      <arglist>(TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>getAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a5858095b4885e1b51f671827d279426b</anchor>
      <arglist>(TaskSE3 &amp;self, const Eigen::VectorXd dv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::ConstraintEquality</type>
      <name>getConstraint</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>af28ab12a1c3a6168d148561da14d62ff</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>getDesiredAcceleration</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a967bd260545054372331f3efafb45c7b</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>getMask</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>aa2b580b71b1a2ad597f37ebe0c1694b4</anchor>
      <arglist>(TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kd</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>ad33ae17f42e9917d3b174dd21379eb5b</anchor>
      <arglist>(TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>Kp</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>aac682af7c0a6e7b4db448d9d276d64c4</anchor>
      <arglist>(TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>name</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a3b1b222abe237bad7c83fa0ac0e563ca</anchor>
      <arglist>(TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a249abeeb5e8b3ab9fcac901c325b371f</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>aeb742d1413c5a473fb51302acd57ba3f</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>position_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a969d1ad6d5bbfe09ecf8b2bafdc19324</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKd</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>acee1c12d2dfd516705db3c138e6f63a7</anchor>
      <arglist>(TaskSE3 &amp;self, const ::Eigen::VectorXd Kv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setKp</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a3dca71bb49064996592b82b1eba781dc</anchor>
      <arglist>(TaskSE3 &amp;self, const ::Eigen::VectorXd Kp)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setMask</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a601ad796137c8dbe50a1caf6ac1dfd4e</anchor>
      <arglist>(TaskSE3 &amp;self, const ::Eigen::VectorXd mask)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a01074110916eaa42e88ba3ea4dc7dc3f</anchor>
      <arglist>(TaskSE3 &amp;self, trajectories::TrajectorySample &amp;ref)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>useLocalFrame</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a591727c7f6d23594c969fff87c46c1a9</anchor>
      <arglist>(TaskSE3 &amp;self, const bool local_frame)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>aa1c5a82f40a81ceaf4629b480fa383b7</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity_error</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>afd8165e0dc7c75dd52d9ff6e210c823d</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::VectorXd &amp;</type>
      <name>velocity_ref</name>
      <anchorfile>structtsid_1_1python_1_1TaskSE3EqualityPythonVisitor.html</anchorfile>
      <anchor>a24a6b3a47761051efddef3afe8620d5d</anchor>
      <arglist>(const TaskSE3 &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::trajectories::TrajectoryBase</name>
    <filename>classtsid_1_1trajectories_1_1TrajectoryBase.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual const TrajectorySample &amp;</type>
      <name>computeNext</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a08ed0f674dd4558a17788cf4d20e4f84</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const TrajectorySample &amp;</type>
      <name>getLastSample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a79b24b9dfa0647fafc0778ff7c836349</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getLastSample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a0f4f6a9b8718a58b863accb7fd89dd4d</anchor>
      <arglist>(TrajectorySample &amp;sample) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>has_trajectory_ended</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a64f169ffd5caf2832b971d779e6eff88</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const TrajectorySample &amp;</type>
      <name>operator()</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a61f640f9d88ff812c7cd8d0aa55e0da5</anchor>
      <arglist>(double time)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual unsigned int</type>
      <name>size</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a878451debdb8e78ff301069f639ea3fa</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>TrajectoryBase</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a377f1939fbd965d348d147ae2d1cb891</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TrajectoryBase</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a97ede0794f96ae89116f8644e3d3bec5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_name</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>ab2382c0493fa4495fab85ac66a45fed0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TrajectorySample</type>
      <name>m_sample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryBase.html</anchorfile>
      <anchor>a0f0b461ec4346cf2219373213857dc34</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::trajectories::TrajectoryEuclidianConstant</name>
    <filename>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</filename>
    <base>tsid::trajectories::TrajectoryBase</base>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a96776ca0504794177179e7a147614ead</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>computeNext</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>ad7638681fe6c730f21d9230305f12928</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getLastSample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a0c680ce1d18cb8526a3fe7e8f385a50e</anchor>
      <arglist>(TrajectorySample &amp;sample) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>has_trajectory_ended</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a7a80dff3a4af3277ee6a81212abe3484</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>operator()</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a224ae5f16a42495dc4f3bcecac03172e</anchor>
      <arglist>(double time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a065dbb51ac38a54ae5fe22627f515756</anchor>
      <arglist>(ConstRefVector ref)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>size</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a28824f58641196431f1a6bb77cc7b45e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryEuclidianConstant</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a7108bcdd8774a82261c393258d239815</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryEuclidianConstant</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a61867386b4d2ecfca5f1e7a2524275c2</anchor>
      <arglist>(const std::string &amp;name, ConstRefVector ref)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TrajectoryEuclidianConstant</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a5ef458ee03118614fa09fe9360490a51</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Vector</type>
      <name>Vector</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a2657ee0f19c9d9828dce86c7d8c6661e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>m_ref</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectoryEuclidianConstant.html</anchorfile>
      <anchor>a245a5d45c82b96ee8078f10b12418a23</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TrajectoryEuclidianConstantPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>ac6d544b4e4d0282acaf76dfd540be6e2</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static trajectories::TrajectorySample</type>
      <name>computeNext</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>a95b797ed843fb1e8e47734f4a8b57478</anchor>
      <arglist>(Traj &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>a995c4a877395fc050a1ac2db3289b480</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>getLastSample</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>adbe7a4a4db283336818783b4b47ca034</anchor>
      <arglist>(const Traj &amp;self, trajectories::TrajectorySample &amp;sample)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static trajectories::TrajectorySample</type>
      <name>getSample</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>a0355a8b664eb93546d8034e2bb41ff8b</anchor>
      <arglist>(Traj &amp;self, double time)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>has_trajectory_ended</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>a7aae1ab9a59eff6df386d1adcc9dd006</anchor>
      <arglist>(const Traj &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TrajectoryEuclidianConstantPythonVisitor.html</anchorfile>
      <anchor>a526ca6ac98ca62c91fa4ea96826ccaaf</anchor>
      <arglist>(Traj &amp;self, const Eigen::VectorXd &amp;ref)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::trajectories::TrajectorySample</name>
    <filename>classtsid_1_1trajectories_1_1TrajectorySample.html</filename>
    <member kind="function">
      <type>const math::Vector &amp;</type>
      <name>getDerivative</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a0f8ca54bc6288f40003d5ac0ed7d774b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const math::Vector &amp;</type>
      <name>getSecondDerivative</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>ab65805acd482304f379f499f291a6624</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>TSID_DISABLE_WARNING_PUSH TSID_DISABLE_WARNING_DEPRECATED const math::Vector &amp;</type>
      <name>getValue</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>abadf7bfd09987adfbf1b0b476131d70e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>ab85376885c4e2539902177c5333bff1c</anchor>
      <arglist>(unsigned int size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a3885d1db61bd8940cfb159dbed5dcfa5</anchor>
      <arglist>(unsigned int size_value, unsigned int size_derivative)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDerivative</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a92a05bd801ab830c45e11f963a41fc9d</anchor>
      <arglist>(const math::Vector &amp;derivative)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSecondDerivative</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a72b3a85472120391de6ba1041dbd68b5</anchor>
      <arglist>(const math::Vector &amp;second_derivative)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setValue</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>ad231ebcdc546d7328fe2b06b2bc95bca</anchor>
      <arglist>(const math::Vector &amp;value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a6db7e330274ae33de5972e502bfe356c</anchor>
      <arglist>(unsigned int size=0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a2baf0fbacb16402b8091a888350f228f</anchor>
      <arglist>(unsigned int size_value, unsigned int size_derivative)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectorySample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a48af8e75c04e17c8014d414bc3e58953</anchor>
      <arglist>(const TrajectorySample &amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectorySample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a9c94fb79903699003088b38db9121833</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW TSID_DEPRECATED math::Vector</type>
      <name>acc</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a8c3f3e8f9378ed29945089cef04bd5f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW TSID_DEPRECATED math::Vector</type>
      <name>pos</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>af012d09bacda87cbeea8c538e8756d10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW TSID_DEPRECATED math::Vector</type>
      <name>vel</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySample.html</anchorfile>
      <anchor>a7fd5c6fba5a56acac86adef15cb7ff3a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TrajectorySamplePythonVisitor</name>
    <filename>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>ab25c3fc29e7c3139c2a1615c0d98fa9b</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>derivative</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>aa8cfdd1474920a59103b3694837598f4</anchor>
      <arglist>(const TrajSample &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>a1cc9e8bcbd3122f17c38ee923e06278a</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>resize</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>aacb903157488d6cc2ccdc562ceec1bf9</anchor>
      <arglist>(TrajSample &amp;self, const unsigned int &amp;size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>resize2</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>a4ddcc3d61ccc464bab8841cd2612e194</anchor>
      <arglist>(TrajSample &amp;self, const unsigned int &amp;value_size, const unsigned int &amp;derivative_size)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>second_derivative</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>aed95c0978689009bde1326b689f3c458</anchor>
      <arglist>(const TrajSample &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setderivative</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>a5967ca88d9abeb1576ae79ed25f7c4bc</anchor>
      <arglist>(TrajSample &amp;self, const Eigen::VectorXd derivative)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setsecond_derivative</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>ae0788c3fd5700d424182480d5076136c</anchor>
      <arglist>(TrajSample &amp;self, const Eigen::VectorXd second_derivative)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setvalue_se3</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>aafa56f6deb72f98d9d06ef2f0fd9523f</anchor>
      <arglist>(TrajSample &amp;self, const pinocchio::SE3 &amp;value)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setvalue_vec</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>ac126a74ca37254839697cf7cb307260f</anchor>
      <arglist>(TrajSample &amp;self, const Eigen::VectorXd value)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>value</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySamplePythonVisitor.html</anchorfile>
      <anchor>a43d76fb984f5c492454b8af9b59cdfd1</anchor>
      <arglist>(const TrajSample &amp;self)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid::trajectories::TrajectorySE3Constant</name>
    <filename>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</filename>
    <base>tsid::trajectories::TrajectoryBase</base>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>computeNext</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a2c6e3577b70a3da61df1fe86d71e24e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getLastSample</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a51da722bc5168b1ef5398350da292167</anchor>
      <arglist>(TrajectorySample &amp;sample) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>has_trajectory_ended</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a8c1ee6d298b0ab62230fcffb60690702</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const TrajectorySample &amp;</type>
      <name>operator()</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a26662467fdba25a7f87160050600ed4d</anchor>
      <arglist>(double time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setReference</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>af66166c8658c94a9f6d5bb54112fcfa7</anchor>
      <arglist>(const SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>size</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>ab578bdae821188b6b899f016f0bb4d3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectorySE3Constant</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>ab9773132cc8e1c088f2ef3dde010cbdd</anchor>
      <arglist>(const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectorySE3Constant</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a7830896f447129c5415c3dbe83661071</anchor>
      <arglist>(const std::string &amp;name, const SE3 &amp;M)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TrajectorySE3Constant</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>aeb82ad717dfd4bccaae86e6f62971995</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a20b8f43b274608ad2aa86d174bff2a74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>SE3</type>
      <name>m_M</name>
      <anchorfile>classtsid_1_1trajectories_1_1TrajectorySE3Constant.html</anchorfile>
      <anchor>a683c446e41d8891869c6af83b982440f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tsid::python::TrajectorySE3ConstantPythonVisitor</name>
    <filename>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>visit</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>a724c18c9ba7ded6e838d9e10162b0185</anchor>
      <arglist>(PyClass &amp;cl) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static trajectories::TrajectorySample</type>
      <name>computeNext</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>af4fadd78e57717991fbcac3e6df3f381</anchor>
      <arglist>(TrajSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>expose</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>a3ebea19cd2a141634d48f6641a957f7c</anchor>
      <arglist>(const std::string &amp;class_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>getLastSample</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>a3d4a83a8a1129aa018bd7f80f5bcb80c</anchor>
      <arglist>(const TrajSE3 &amp;self, trajectories::TrajectorySample &amp;sample)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static trajectories::TrajectorySample</type>
      <name>getSample</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>a99cf85115e2b82440f3a2b7765b389dd</anchor>
      <arglist>(TrajSE3 &amp;self, double time)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>has_trajectory_ended</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>aac820d78f5d96dba5353394f4d3f7b9c</anchor>
      <arglist>(const TrajSE3 &amp;self)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setReference</name>
      <anchorfile>structtsid_1_1python_1_1TrajectorySE3ConstantPythonVisitor.html</anchorfile>
      <anchor>a29d9e7a76255a95e5cf1d6f47b60b84d</anchor>
      <arglist>(TrajSE3 &amp;self, const pinocchio::SE3 &amp;ref)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid_biped::TsidBiped</name>
    <filename>classtsid__biped_1_1TsidBiped.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a58fa08cff335364502ebbe02765f3da3</anchor>
      <arglist>(self, conf, viewer=pin.visualize.MeshcatVisualizer)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_contact_LF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ae0a0c6a5dd6a6b281ac981e1a3b0d51d</anchor>
      <arglist>(self, transition_time=0.0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>add_contact_RF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a6a9ab0742cf1877bbecd312c398140aa</anchor>
      <arglist>(self, transition_time=0.0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>display</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ab3988132fe4458c8ab522dc5d09afc57</anchor>
      <arglist>(self, q)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_LF_3d_pos_vel_acc</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a01b355866833bcf6f6cba9a4e4727abd</anchor>
      <arglist>(self, dv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_placement_LF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a4c71d3acef68656eae64192922daca65</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_placement_RF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a3665762d1758a11aaa3ee32b1db0e7c3</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_RF_3d_pos_vel_acc</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a712cf10b23bd7dcbf44d4f31cfefb357</anchor>
      <arglist>(self, dv)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>integrate_dv</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>acd4d603957c271c3b466201269bf5b41</anchor>
      <arglist>(self, q, v, dv, dt)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>remove_contact_LF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a86dff366ec063b6e83431149f8f706a7</anchor>
      <arglist>(self, transition_time=0.0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>remove_contact_RF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a0a47e3fd0454fe759432371040f4acbe</anchor>
      <arglist>(self, transition_time=0.0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_com_ref</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ab7f5d14fef57533422759df5a36375c5</anchor>
      <arglist>(self, pos, vel, acc)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_LF_3d_ref</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a38ae84a2f43695dfb5eb53decba80c5c</anchor>
      <arglist>(self, pos, vel, acc)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_RF_3d_ref</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a5464d107db5837c5e1d9aa516126e8b1</anchor>
      <arglist>(self, pos, vel, acc)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>actuationBoundsTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ac365cd435a062f8a971d7aa3e069aa8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>amTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a17758cf29d3dd9adff7ec33e20568c43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>af7fb5771079744cae508792855d05e8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>conf</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>afd3ff87c9ecc51af7caf9f61b09f1b3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_LF_active</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a6c400b9ec5884e494548bd2ed5194815</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_RF_active</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a5db942e5e2d1654b616a9e1799646012</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactLF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ab45ffc069c04a008c5039eabfcc8d5c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactRF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a52f971cefd6791dc5b7be3fadefe2efe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>copTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ab78f26d973e38269aab768e646b5decb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>formulation</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>afe58bf3b6607a21fe38691724c85f5ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gui</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a115bb08c5486fe884aab1e71d661eb95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>jointBoundsTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a8c0a848a483762322e80d29bc97c1373</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leftFootTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a19f45476993a5bdaf0c5a0d3f746fc6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a365267511d7efa09370de2da9b126cad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ab106b359db2562c03197e5d5b36d4863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ad6beb14c4508745d0ee24881e05f6258</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a538824fda201fa6fa9fc662df90fa785</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>aa15818c927dcacd5d9277c676a1c17e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>RF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ad19cc9491fd83a8d1acd31235e755536</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rightFootTask</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ae94506c043ca5cbb042430c9e8468e5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a384a99c60716398e55ee4bfc44f085c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot_display</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>aa4ba9d99ce0828a1e2d2c1bd44b5eba7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_com</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>afcfe30e010e8423eb4cc3d05292ae844</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_LF_acc</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a753aa1dc009c3818e13f1702e1fc6c8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_LF_pos</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>add35fea2d3d1843e8424c53fe18f84ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_LF_vel</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a989a56569c9651813f0b5baef441929e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_RF_acc</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ac2a0ad378e8d8e527989e5df2368c0c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_RF_pos</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a72d7787afc793d12b129bf99c764c1aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample_RF_vel</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>abb9183ea8186043b66c0a41226d7821f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleLF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a77e8e22fe87159caed019e1afc5e035a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleRF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a9b6befba5153b91dcf6c8b67320a67e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a85acc6565f5994a75cbef66f30bef187</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_max</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>afe25f7aca5223f9f94fb812eeafc83be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_min</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a79e43b7147f69274c9635e5f3a8542df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajCom</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a1c6678a44e446a2a2f89867917d2d11d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajLF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a2c64def9e7b610ea154b7f321ecea86c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a9692d054bcf00cfc4ef4d353157a3352</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajRF</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>abd24db60d6f296c4f19f8e537ef8b815</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a5bc9eb84f9d017fc0eb3301a3a6ff380</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_max</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>ac35b9b8027709062770e281e149566dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_min</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>a386397353bf406a23e472ce3002c21b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viz</name>
      <anchorfile>classtsid__biped_1_1TsidBiped.html</anchorfile>
      <anchor>aed2bf35e066bd0cf9f2bf9f737cbe0c1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tsid_manipulator::TsidManipulator</name>
    <filename>classtsid__manipulator_1_1TsidManipulator.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a0a4d157f279d5fd7e04b5ab06e97059b</anchor>
      <arglist>(self, conf, viewer=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>integrate_dv</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>ac57fdc62175f66ba36ff286177af388c</anchor>
      <arglist>(self, q, v, dv, dt)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>actuationBoundsTask</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a08a5d05b9a2cfdc27d9c73f8264cfa13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>conf</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>acd6cc19337019959b16cc9d1100ccbb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>EE</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a92928f92682a84beb1017c4102641292</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>eeTask</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a1a08d1ea3d048facb9cdb981fdf2a6de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>formulation</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a2e95f55446216d4b2a36eeb658b26137</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gui</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a926bcf73db1cdd046ce53a4292dc34eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>jointBoundsTask</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>ab286775f3b1c81f28ea5110900789ba4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>aa61084b21fdcdb9ff01694bf7c4190ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a7f8098e9def313b8f1b4879cc70c73d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>ac993b125be40906d2abffc73880f9c6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>af3d795aa537f4ea394d9ab27e9de5a07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot_display</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>aeda2d856c1f6f364a76010512ed14724</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a783f38193b4648dab2d9d25b4951ac4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_max</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a29f79e24a887fee8fc0edd4c986c3254</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_min</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a5577f62b8cee46258028b1b136016409</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajEE</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>abdb6a835a21bc1c824c07c12358fc4b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a14a9e54644a1d3e2309abb3a4bb8b61a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>ac66c93848e46193b34ebbbf09f3c8f72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_max</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a55965050b40c0cb87fbe3364dc7d3153</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_min</name>
      <anchorfile>classtsid__manipulator_1_1TsidManipulator.html</anchorfile>
      <anchor>a76f2f8165c771b5fd8cb807f7a326d45</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>compile</name>
    <filename>namespacecompile.html</filename>
    <member kind="variable">
      <type></type>
      <name>builddir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ac0fb4d34948a7d3fda2106686391a656</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comp</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a4cf5d6b0ce4e98e41539a25339052088</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>doraise</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ac1d4ef7f8831ee0e882d8f2d661c6c73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a46be63463291fe312cb52b5643ad6c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>ad462a24edb35c4e395d20b7721d7ade7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>srcdir</name>
      <anchorfile>namespacecompile.html</anchorfile>
      <anchor>a0d2cf1092f70ef943044bbfdce3979b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>demo_quadruped</name>
    <filename>namespacedemo__quadruped.html</filename>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a85f80ebdff1d27fcb35552ae08517a5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>aab8fb173d41488849ab42d1a4f56718e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cl</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a650c0f1d8b42f3840d1d8f8b29b44f41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab1e3d6f2b20ac8c2b8c1e989e0ed4f7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>com_acc_des</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab5ab7b43fc0030def33cb4860131db4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3cf2650ae27be7487ce47054ea7f6f33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a65ae6adae84b9d4ce85e35cdc3e4e84b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af9a43d6ebbfa243a1ef0363c81ef1498</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a63a52aca6405a59a16f1831fc03b3644</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a19ccdef792828704fa8c9b1e2763f2d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abaa6e7c02c9ec7ec22e812c3a91a5cc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comTask</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3019795549207af7a045dc509b7fe879</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>contact_frames</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0adbc5747b6c71e0827c4777c28260ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a9ef4b35e554385b856867a7b969e6678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>contacts</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af20771835e9deddd28d7a6ff61bd893c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>adb998eeaae2384615a631c8a8949a6f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ae12bfc8980730b10cb737c7af0f175ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a70e161873f7540da18790f8db738681d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a6e4e5d050996193fa7542e72cbe70327</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>end</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>acc71178a02ed29fd9a7609e046fd50c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a65f898f79f647e8d58c15baae6e20567</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abaaba66b93c5f3b3716497a7b2ea5b8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ad45fc6a6c60296903b078d0f0897bd4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3413dbea4b284b4ddf6662b29853aadc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gui</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3524276454fc77895e58ef4d20ff8c21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0b78cb61befe77f1721c0e057c0edf20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a68a6b2f56b9df0322ddad9b95ac2cc34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>id_contact</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abe58b4bfb72053bc0c781f0ebf8398e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>invdyn</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a31e003744c14182943737e9b90ef5393</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a90ff34a94d050bcb3076111e2a3a72a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab2a52412ddaa3fd9e4014380fe038fca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af7358b73c7f69b1b43a8b359e6ff08a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7306aeafad1cead7ae3c7a6f59c5fbc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a9cd897b833aa73f988c6af448e63d9ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a2974c255651048a1c92eb1b2289a7628</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a5e6acbd5e603e3b995041c1c72ffcd54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ae4b82c63ed85851ad8ef84c7a5a708a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>loadModel</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a86743a2d6adc0e41349bf11543a03bab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>abf41c3dbadf5c56d8fe382f9b8bd7f48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a9686ec7b21d9ed66251485477864d751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af201a3af4cb9c4ed69322301d2717519</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a962a0aff3e4254705a0dea8fdd7a1af2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7d1d6ffc33f248f4f5c53101ab39289f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>aa088d3e013049bbd827f6c09c1e67848</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ad4e84b62d8e007bce46ff68b665c0ddb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a38dcabf6ee9fb53583272a880b8cbada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a3679d39c91e5ebdef33581a89529d85b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7435b6a384a1047941d3b993c9bc1759</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot_display</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ab5158d919bfe381f0ad4f2af383907a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a5a1b92fb427d9d01ae24a0c21c479673</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a82267dc8952a3a44d616af7f1ae7d66d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0a1548d1533dc242d6d8eb7b5a21e528</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a98c803d0213e4b74b59a5980360e13fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7eda12831b3fe5d2160c65a95502590c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a7c4c546da9ed585ca7c50dcedcd6016d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>acd7c829df9c50d0145866a032c5fd117</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a732518bf0225f82de6cb42e4d5cf6293</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a5ce892e31ce70542cf7f05986d382f5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a8777231c51ab4c2162214735ec3fa428</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajCom</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a17653e626aec7bad285e84e49e23c578</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>af0731fb965d11df3c24e9e474b58ea9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a6ac31254bf901a6fef3203d2cdf85378</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a81f59fe72ee0bb11d5297d00ecc0a73f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a346236edeeabf79d8d58a0fcba66569e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a53de9bd377aa170ea43b4c72a5e9a948</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a34795be2351afbed066664ba63e83058</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_mean</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a0815499a187e0771e80177b3ec9cb7d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>acd4cd6cb708d659b845f772553f3d28c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a2d8d50a88f562abebaa01431e430b8fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>ac62e39f3d48045b5fdb4ef158f990cac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacedemo__quadruped.html</anchorfile>
      <anchor>a55a9b78f29a85f8b10a895b2f3b38b44</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_0_ur5_joint_space_control</name>
    <filename>namespaceex__0__ur5__joint__space__control.html</filename>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a8180aea0a5c63ef000c824ec8d1938b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a77aeae0ac73b08bd276bb56b9cbd96dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dt</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a57dd6acb54234dd339e1f42210c70fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a95df2d8e480093939877c5a3f28f8b51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_des</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>af3fae0c60a42a83c9a025b9019625eb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv_ref</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a8c49ff425087df3bd75ba1342c750b7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a893ef383a1123d8e53ff2726436f3879</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>formulation</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a567f732461c3e18f2a678542232c6fc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a4e0b4a815ce2c862d7644e8e427cbe9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>l</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a6fca6be0dcfdcf61dd07b5de52b52447</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ad0b310c483f61a3e53f69223219ff2c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a2a69662dcc2c69a62e0bf2d9054c54c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>loadModel</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aae6c0da15e0b8f384a08377bae56613d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a05452c0468c33f2585252323e951a1ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a3061d9e99a4026c7c5fc6142921c2ccd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a02d393ed6a469921c4b5d4b1b2bb3cf5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_ACC</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a0366b65fd4be705144f8efbf891d07ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_POS</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a23b64f834ee963a72c180fe8cc2c7a8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a8f64e45031ead905645da8dd6f536a3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aa18c4a86f752ae4c8172a9a667d633fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a6ca512d170192c5dbfe0fcc88fae207d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aa2f27cf11150e0b236856e6020e98ffe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ad8e035bc66838d5a30f8f5fa4f396c35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a28be62a46e41d0945da89a90837d83f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>adc4f723f9e0735567280e18d4c9431a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot_display</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ae87d2f09bfebf4194eed631c34820ca8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a5f79b95aa824855eaa0a5b9034ca3c9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a0531efa7ac6ac9fea3af5971d16a6e11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ada2cb722a27b9bfc557a6dd1196ed040</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a84f1afd095411dedf5df0083decb4dc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a16aa1cad14ab006b9593c5e161989f73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a0e1193a66ab9817491e998a07ea2ff0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ab81214165c20ec48a5f0aadc21a719b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a24b36df2ac2191e7d0db491377cfdbbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a767f7a05b2760ace9d68fad128610593</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>abd9ea9adea06135b6c5b0857755cf552</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>aa2e76dd31be53008ea00a6512ae93f3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a3c285a5d70690a7d32c143034317e5b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_VIEWER</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a70a528788435bae76ef2bab00f3413e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ab458e1f8884859d2f9cadddc58c691a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v0</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ae4475150684dcc4607c2900fd7976547</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_max</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>ab2a6ec1ecd3b241e08494a1f46ea0847</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_mean</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a9939d4c30b5e3c584339fc1d12f4b2f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_min</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a29e74d170dd3b43267ff8fa52b787971</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_ref</name>
      <anchorfile>namespaceex__0__ur5__joint__space__control.html</anchorfile>
      <anchor>a131fe7fe2b7831d5d043a77bd02902e4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_1</name>
    <filename>namespaceex__1.html</filename>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a288571ecd21c1f430e29e40e663eb47a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a84a77b55fb30b415dfdf65d2f223b6bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_des</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a2d4d0734a8274d83576138f966d19078</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ae8b029d97ec96aa0d0df61eaf2e43872</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ae5a152e8d3d73f6a315039057706c543</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab4f87050629c3f1d9ea7748779372c49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a48ad8cab2188a4f105590404576a14bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a58d1e7e31714ce2cfb3432e515db1251</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a852c0e6ed419a24c48e792098c0e4814</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab188536064207e4867fcb70e3eb2b221</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>abcbe143a545cd5cbae48d5a652a7fbcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ac770af1fc04000bdaf9cdfc513cc2b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ad303b78fd47a14ed508c08937c07f12a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a50d59fb9e66a44085d577f4e36263047</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>aa8c823cc94c5096965c29003d2efc67b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab84cc465e05b0e2de9b1388278f25851</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ab19cd438c67cc8029afa4418bc52cb23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>ac71f1b4fa3d844ab089193b98937ace1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a0360561a06e8cdcde7b936db2eaff12f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>af6c05a3ebf82803a6413b37af1ce0721</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a06890bcf26f833f5ef1a7bfa01a7cecf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a8223f8ae5fe10c243ee0cf46d411778c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a56a93bab8c1b27817ee5b50684d33147</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>abcec3d7fce82a0f7d90a9db7e2309e7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__1.html</anchorfile>
      <anchor>a9ad1000d25256266a446cd4b38152163</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_1_ur5</name>
    <filename>namespaceex__1__ur5.html</filename>
    <member kind="variable">
      <type></type>
      <name>aEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a6fbc64cee971fed0c700b76e88e387a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aa2e07f4228056d48823a20f8397409e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a16e85917b5fe18949d06efefe23ed5c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_acc</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a21d5afc7d526e36ee66a325e61b0f2cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_acc_des</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a22e5740dc67ef44f006ea934694f434e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_acc_ref</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a042d305f0aece6f1df3fc654f9e745e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_pos</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a05acd126e1be7df4553dc229167dce28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_pos_ref</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a7f0dbe4ead18875d5051cf05e751cff8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_vel</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aee5a9419823adae2cd93c5f631249a24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_vel_ref</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a703d42b77c2998c6b09b2ae2e652b3c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a549be85af79a748e268e66e82b257953</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a53127398fe6f5430c59fb10e7cb7f1f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ad69fafe4317184f723ed165866c1a651</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a1fbb9d8670e24ab9c396eb72000fa20c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ad520e3770684ab990fae8e1c3c4cf03c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a00455574f726c347e17e057a68e6ca56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a42e2907e3f4ff8d3f4da9fd0b0d89172</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_EE_ACC</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a31c87ef55ff3be85643814d788bf6dd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_EE_POS</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a3c9f180b9ea714f74aa796132af6daed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_EE_VEL</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>affa1022e6b0117eb7cea4e59d0687a95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ad0f5306fbe518200601b6e4aa135557c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a7c7fa1b09c1fccf5b839ed8733218e53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aa096a283b0a8184d6cbcb73431818d58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a5bec6988f9012e6267d82c0824b02345</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ab96fbbdf69117960ded4606b5b0a7e73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aa67c285d19207a86a24bcb469bff5a73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a9f84e5bbb022e08564ab672f660a51a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a640f9c0174229968c4fd12f9c7084402</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a59975e10bf3de37f1e87a902b5bc9613</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>af12d9fff867275c6367427a26a2ae0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a9433881f0923bfedc8f67e55072c30f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a248d92bbebce9bf763302f2a1e4d9768</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>aefdb1d31ecac62dddcb0d58a67b91794</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a694f578c0dbb9dcf7c1c0d11e438040a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>ae1862ac4adb412bcb11db69fedfb6091</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vEE</name>
      <anchorfile>namespaceex__1__ur5.html</anchorfile>
      <anchor>a78abb258fcd69fac93cb1b220f4fd340</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_2</name>
    <filename>namespaceex__2.html</filename>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a215e63540ca361d68202923786bf6e48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>abe0fa03c7f2da25802500dadf2c3da0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a45d6d68bdf20e9af58e187b0e3b52ff9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_des</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>abc1fa43768afc6e931abebfe31139853</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aadcf18bbb486929a67fe9d2ddc5c2f80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aa87df29eb3ffafd20f9715dff79bafc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>afbd77e43fbe96bdec8bd1151bb42936d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a418fd9ae417d11a92c109f95d8d000be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a64737e0e871ee33ca196ca8b17a60782</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a25072bbd3f87e39f25fa3a746b633646</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a4a6b4c57471b1cf4ae111567ef8bf5e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a2d20001e7b5f588f58ba2b4eeacbe3d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a0cae9811da75f1a0f9d222971cdf1a01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a7741b252baf9c212448cdf9d34bb88f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a6f4ce74e236662b59a6beac3c4404637</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a4e1effd14f08fbcd7f6352b62d460758</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a7176d723c2add8283bc21bec882d8081</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a5923a5942aab3405c29c7227e8bd0903</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a91c34e76927f2e722d178b4fcc41800c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a791cc55992efa12d982e6570088e09ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a25750536c8419b3572349dc7d1c10bdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a21c654a0c75d83ae75e1bde9f14767c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a385175d52175f40033dc2c59e889bb3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>ae57869e4a1b5cb6b176ada76c961f2ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a865691257e391637107a0e5ceb25dc51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>ae26f9389e746f61a16ae0b5332f46082</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aae22b1d60e60086ed0c92987fe1669c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f_amp</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aa2a205bbb25775cca757afafa84ad24d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f_squared_amp</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>a36468401f62791cc5b35c991da14883b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__2.html</anchorfile>
      <anchor>aedfc94a1fa819bdb27b01e8636014282</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_3_biped_balance_with_gui</name>
    <filename>namespaceex__3__biped__balance__with__gui.html</filename>
    <class kind="class">ex_3_biped_balance_with_gui::Entry3d</class>
    <class kind="class">ex_3_biped_balance_with_gui::Scale3d</class>
    <member kind="function">
      <type>def</type>
      <name>create_gui</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a1be78bdf1aca3a3ce768df343612362e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>push_robot</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>af406ca48bb5e26ebea8ce666c6cb23a8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run_simu</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a664765d5ab7074a63e14c1412756ab56</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>switch_contact_LF</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a1105357b43e2343d0f1ebf9f48aaaf7a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>switch_contact_RF</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a30ba48b1721eb3c0529ebfad7fb4aeb0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>toggle_wireframe_mode</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a2c028e78267ea4df4c8e627092e1fb1b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_com_ref_scale</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a961d1658ae270b86c6eb90707070b985</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_LF_ref_scale</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a580298b2ea1abf2041095594486b0a77</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update_RF_ref_scale</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a3c53cc2875fe2f86a5200b0e4248b816</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>AXES</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a349c87a1de615466d93bdb6ab7b5498e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_0</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a82fda9fd660d8b285ea4707f7cec5d9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_lf_0</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a6fb68d45bd41945b7f69e8657c3ee4d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_0</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>adc6eb5006d5f673daabf179f55da5ca4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>th_gui</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>aa136e8fa41d33c9c2b7f6ae6640188e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>th_simu</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a18d71d354b9d7924cc75748bb17b4857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespaceex__3__biped__balance__with__gui.html</anchorfile>
      <anchor>a4fc1a3dadc551de9415525468ef83f99</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_4_conf</name>
    <filename>namespaceex__4__conf.html</filename>
    <member kind="variable">
      <type>int</type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a34719931518739af4a5ba61a122c1c2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>beta</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>abd2554dd3c5f3d2e19b022ff0134674b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>acb3c93ef1acf8f3cc9a8af940402495d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a87b06fa32580fb45ed67b9d34a695893</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_LIPM</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a02c951a027317b0e238e9f989d28f302</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_TSID</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a9fb12faf05bf1a11c72ddd3898305c3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a652cdb437cb830814353ff15e16af97c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a1ee614f93d30b334e4300f337e2af8e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt_mpc</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a9a588e75ad9964056f21b4f1e7b5a7fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a98063e261ae303ae4038c9cb69d60256</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>fMax</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a4d56c0b14d842b46446d4b84e4570324</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a09a0f75408c6cba7e0f8ff412f73a910</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>foot_scaling</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a5f204728ae8c4068bf88906704ad6d9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_step_0</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a52b9b92bb448c1b0b58f3e224da94efd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>g</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ad2de0a18833da6fe8aade1a456f0fd0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>gain_vector</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a79b68904c7c1894b2f7e9f6c170ddffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>gamma</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ad0ae14e66cce6dbfa044661ee19e3f35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>h</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a5a4fde97c3847c56ab4923c2fbf6236d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_am</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>aa44e7e377195c575b806f6937fab1a86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a69eacd115013f00be3bb172a5a6ea96d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af5b64db19dc276b1118d3be5f6afb37b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a363d38bbb0f04cc8fd62563ca5935c43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a37658f2b7ed5973cf2fc1519bc075d91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af34d8029fa3f3b800d046604758de75e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>aae5827db8f151cb9361c2d6b9522ab84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a0ddae6ed84375946b872bcd38bcfe5bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a0acd98612190983f20f3afaba49432b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a2783c29d46a26950ba7b8de473e37e30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ab005b4861f259d1b9720953dc435554b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a90e802d110cefb2e6364122803b971cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af8d42c044500a3311ad201be71c7dbdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a03b65560a2cde70e3860c91156eb6d07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af10f9f6323ef125e3889bfb90541b080</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_steps</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ac8d8ab181ac89ed5727071182e273ea5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a31a6e0194f7a3bb33078b34d8d1da3c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a6e63350ad47500efc1636f82da63a816</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a54d08449589f480a412d2d123004d767</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a23d255df151aa4a35d4030010b3f6e71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a643152ea2d42778af8dc252c0bf57542</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>acd21ca17f54e6da58c1d488f9c258c90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_height</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a1971ec4158964ce7651f7d156ff08aaa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_length</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af5c46b36030ca4a49b115c3f5ca18d9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a01e868f07388c812d381d40a80cccc08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_post</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a8e0b31093614edc3ba64c5bafcf1d335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_pre</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>af5118a82328bdb2f043f7a402c8da061</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_step</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ac43d2afd6a87992b9908d5492273e236</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>abe6cefb31902ad6fe98250d304a03cca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ad1db23daecb381f6c62db49e91cc6ed1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>afbbfb81491cf082bf6d7a34a089dc55c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a669b870ffd51bc1838107213600cdd17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_am</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a18045dcf1e349ece17e690bc12f9f0ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a9cdca7fdb4f07b5208d2226321b8141f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_contact</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a68b5e7b2b0d0924133d43b1a4aa748f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_cop</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a38474174593c7f1952c8371e18d1fc08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a175feed475c5be683c287fcd483cbb10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>a0197919a66477609cfb3187a3c868c09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>aeda6f55099a6c676504147b42933958c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>ae7e5e974d9a35a4f71e7c5ae95313b44</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceex__4__conf.html</anchorfile>
      <anchor>abd6752ac3f0e4ff9f8e9d5f5e7bc0a61</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_4_LIPM_to_TSID</name>
    <filename>namespaceex__4__LIPM__to__TSID.html</filename>
    <member kind="variable">
      <type></type>
      <name>com</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a2ab6218e53ed68ffd81e5dd047389e87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_x</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a5e89fa76bd5a756faaf490ec6a2406be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_y</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ad3017ac8c9993ef82be9ffca8ef6ba73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_phase</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a68ee7d5ea809d284bd70517707530997</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ad2cd2055ab58b69d896e99959f205930</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a8b4c6c0b8d844985f4300315abd2089f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_x</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a09c324ea39ea38677bdf5b485a38860c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_y</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a4da553ed2b4b04d6c885983fa6ad6947</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a24f6b02e693fe9041ed53a6fde09aa13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dcom</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a69f2134a7698ac4ec10dd1f4f85b69c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddcom</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a66a82a6b1bc83a428caa6d937359625d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ab23bfe25530645d122f9713f3d0aaabe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a8d713ff5cbe0d9f7a479d9b75251410d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dt_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ae33257aacf9f60f1cd1127cee74d0152</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a640afb94faf625cc8b5bbf9405f4888e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ad141ad5121ea3aff30d785c9c26e63db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_length</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a1b8d093fd023cd19006a94f641ae3ff6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>aef70f0ccb8d17311ce37e5884ee2bf64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>addadcddf894b03325366e69091fcfc51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a4efc4262b1ec2e1a61af6b443f44c3bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a0059012f6bebe1a53d42c1edf7a6c5c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_width</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a5fd3333ec693d9714063a350b868a09e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a8555f5263e75c73444b23d4d859f17dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>markersize</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a32615e888a637993c9ca8618bc87cdc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a2d6f9f97ea3dab3dc5bd458d97d8f091</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>ae8a2ab93b316154057161e08f840e626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a705dd12c1494082eced0a98bc15cc7a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_ctrl</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a85f5677bcb964725d6cbb918e470146d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>a7515c3bc4519bbbef2d2904af8700892</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF</name>
      <anchorfile>namespaceex__4__LIPM__to__TSID.html</anchorfile>
      <anchor>aece6291d789b8d634a9ac143976c9c66</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_4_long_conf</name>
    <filename>namespaceex__4__long__conf.html</filename>
    <member kind="variable">
      <type>int</type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a71be24e3cd8f29065e24ca1231b75b10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>beta</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aa745e2f4d62d2ce3311bead4fc118289</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ac19f9b77aee147c8015a76a9d2f142a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a71f91eea32c7fa324cee5e2982de222a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_LIPM</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad610a571fa4290cf55bcfa8e81af7ac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_TSID</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ac476e46105569a7d0e7ace5b402aa137</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8547b0ac6b734260c4c21b6ccde536d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a0c889496b8fa6f1a6480a5255f8afbfb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt_mpc</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>afba82591a03cdf4f95f878db051a868a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad78d26f242d080c158eb7041d9cdba6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>acd00d3ca5b5b80c5722d049c49ffaf37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aa0fa78c9c18efd97b13e59e52a42873d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_step_0</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aac7585aff73ecd83612937e708b160bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>g</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8b906bbbaffce2af341862fd4a02ac3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>gamma</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ae4d92b8bb2cfbdd23414e3aeb5f63f37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>h</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a608db6af75b7e0bbbbc9b0b170d2261f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a7b64e316c1fe3b2b79ee35edc7748b19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a1c52420f0664a57ce57854b98b130359</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a9e5a1a36d11a947075d5175815c0d761</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a1533e0bee90b5266df5a1bec66bc3dab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8f82f26f75eb3adda027e3af650c9917</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a31bc7c426c252b3e1636519c6b62bdbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aefd9722056d9c08d40359967d81650b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ab9462f3561e5fd357d6034ddadbfc1e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad8fe60e02bcf04c2c3b7d413efe60522</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a03e5b6561dc6d528362219a6feab570f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>afe4ca34c8dcb970a4766017b6c5fdbc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a3c19bc9ae473b36990d976a94209e548</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a95f8cec795ddf49bedac9aa1d30f17c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_steps</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a1ae2b4e3541bb46dd784deabed9a3b70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a93a9d148eec52ea41364d569e3adf04c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a4f2be40af0d0b8b72de4772c387fe9c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>af3eec3cf464308e1e7264cf558451ee4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ae8bfd67862f37aee5d6e34f16b3c3c62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ac432d79ec289f3fb438e989435dab579</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_height</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a922af559e24d2e933a62d0232541eb08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_length</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a2a2c64810ae5f085ae647318e2c979f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>acd0d3f94cc41f9454ec841505973ea41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_post</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a5d3537e574ca71c82dc6339662b60e93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_pre</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a71179fe91676df62ddaf2595ae64920b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_step</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a101107371513080c826385eb409ea630</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a8e8eda5a6bdc5344038b74bf337689e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a795855276320e32871ff80b9bfd8a920</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a9c5d3a014340ec4f15a658475b70df82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aa7a5568b2be2a9844633317ff5b2ac9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a330979ee8ec33919b92f1cc8357882f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>aae59052acd9df282ef9e4add86872dbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>ad9f030cd6642ca26140af3e71a7753be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a652fffc97f71f904de67c61cc3262d84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceex__4__long__conf.html</anchorfile>
      <anchor>a53b97c620b7653fc6275a62ba5b9fed6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_4_plan_LIPM_romeo</name>
    <filename>namespaceex__4__plan__LIPM__romeo.html</filename>
    <member kind="variable">
      <type></type>
      <name>A</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a164bd89dd54ff161b5963902452bf0d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a8a9f1dab57bfffe2512bccf8ccdb3b12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_x</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>aa0c8989b23b38de1fe71b056dbcaac5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_state_y</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a4f3e9c487cb4a83fba4cef0c242a9d98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>acdb1af346896329f2524de00ccc3c62a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_x</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a6830e7e97683cb5cf30ddd2e2a39a863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_y</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a803e98a7e8f3e7349fefefb3d098e3c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_length</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a9271546080894aa891e526838ab1a403</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_steps</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a94f6a18b607d45df7a135b295fd65d39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_width</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a234e4c459fbc5f9859401446773447ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_admissible_cop</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a24a6ddb461a85a86602deacc8d8c19a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_admissible_CoP</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a55684958677567416613b74c13922439</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a8966282a33fcdecf19148d9b7ad7458b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nb_dt_per_step</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a355d3e44c1f015759cc04711faaf5cb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_terminal_constraints</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a3e6c79ba6c3f1388c51d697ecaf940d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>step_width</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>aea705d05afafb5d0c222d679244a48d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>terminal_index</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>ad236593fbbaa00f71132451c6546908c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a75fedc4f9eb51e91c00f8684961366e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>U</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>acd4b9cdb3556218bbddd146934f11f1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_0</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a617a112c5d0edcd3a12164106e46b792</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_terminal</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a5753274f7f3fb924361a8d65598a259b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_0</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a6e94ea29eb22f4eb73b33dc3c78b559f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y_terminal</name>
      <anchorfile>namespaceex__4__plan__LIPM__romeo.html</anchorfile>
      <anchor>a4b5ac5db6fec2384b79aff9e0c223521</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_4_talos_conf</name>
    <filename>namespaceex__4__talos__conf.html</filename>
    <member kind="variable">
      <type>int</type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ab3c85c0f5b816018174a6fe5411d4e2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>beta</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2379f68a4a99f54c4750c9deb94a77cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7eefce32ee0165f678b4b482993c3bae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a8d3658675a81ba7295ea7b45afb89a5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_LIPM</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a0d6781f90e25db92b736f52a4541d241</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DATA_FILE_TSID</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a9195496eff5e7b682be534ffb3170ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ad2c271cc06c5484bec6f16c56e2ebe33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a0e2841a3fb58396ba3e75784d4a03b18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt_mpc</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a5a8448a832ba12011fa77f5b7a3e81f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a058583cb25cd61b9d64a3199c113f61f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>fMax</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a8de6ff0576074fa54d85bb1658d04802</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>af8966126452dbb06e4cdcf36a24704fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>foot_scaling</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a29913ecc795f4c17d0e0e65e12488f09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>foot_step_0</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ac8d4d4c80838c0d175b19a1ef18ed603</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>g</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a715fb233402355be916308b1426a78ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gain_vector</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a35ae6b090c6b97523a86a601badd8900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>gamma</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a05cf3ada2333a67c4d3f8ede9349fa50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>h</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a4eb669d2a8eafb3f4a41b9a7023c2e5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ac0d0454be6e5d55d6e983dbb9d5969f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7ba269ec8a7b0a916ba82ff283f63363</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2f3c7e37a591107994b10ad5c8be2776</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>adcd3a154d0456ffe7adb26cc0c2c3111</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>acbb63378da29e4b613683880ea03f9cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a4683e03c37fdc1d85126ca78ed063d3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a01204d3aa79744a1cb5e9a9833d7d835</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a60e66ed974051ed0c584bc1a7e3cfffc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ae99df9828788d59a789fe13aeb2a1a8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a913a984a9a8452b728dc3716b5d54800</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>af5b0f741d8236000b04ac1933f7bbdcc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a74accb76f438acb5e3ab0efcbb19cb0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a25b6541f54eab29e1b92018e8de86dc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>modelPath</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a773e15bcb7bfb3d174680f280b412aba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>aef7cbc59a30e7e8765fc8ba2457dafeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nb_steps</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7cd7ab6dfc05d031aaeb4797cbe899b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ad9b59c76a527edccbbb4e9790a19feea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ae51cdce8c5b81a4c89d91c8d04948a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ae5d4a68912b9aeaa3ed9de149b36df19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a3382f08adabd56cd50a6c328de67fe09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a9f9b2ef9cb9a69d56071246f0c2070a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a81e99b88ae1e43ac4ad440e2e1301931</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_height</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2f1570f0b26dbe0a18c29de0be59d4f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>step_length</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>aeefb79b3c18924cf9559416eebdf20b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ada8887e34c7726bacc0859b4bc1e492a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_post</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a43be73e9c57111613cccd2d3ccedd4aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_pre</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a0ee68833f95c896a11f50293df6c6271</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>T_step</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a31de39007c2907f54daaa73f5b4ac815</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ab39e186ca0fca0976579668cedfee2e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a46cd3dcadb8b8fcb0ccfd6b75a7d207e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a44a95336974203dc21cf3735ec4ffe59</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>ab5c68f0da2ad146a0581935127477340</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a29df82193e373ba73c7f539b04a4af26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_contact</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a7f3bbf7441341bb154b96a8b33bccffc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a1df58099fabab01553d4802b99c6728c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a81bc01cd0e9f2275f64cdfa70657176b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a2c500dba56eb35d495c9bdd355cff699</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a615c08c07f8cd7d4bd3eb005f387fd54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceex__4__talos__conf.html</anchorfile>
      <anchor>a33388c9dc4c74553bbe04db92c208b40</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ex_4_walking</name>
    <filename>namespaceex__4__walking.html</filename>
    <member kind="variable">
      <type></type>
      <name>alpha</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a843c5944ea84e847c45935f759081ba4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ab3ef1455d8b25348cbae41de13d5b3ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>c</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a78ef64e74a0a2872d9ca7859821ffa50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa5525c7a8c89cdabb57e0911a3dcab73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>com_acc_des</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>acc7ec4c287a70ccd416488cd5aed2124</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6ccb37a2d8e5a8878419639dc8d9b884</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a44e22135c5258eb92ddb333af2b09b4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae72a580966b3d0ffe2df395377992045</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a34093fd2cdae31bf60c94d3e5bc1ca25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a5e2432b36bb0cdfd287d853cc786fc3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_phase</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a851fbe322379af8eb4c894b8f8516b29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a4b3b181c4a2dab2fe66e0e278bc32810</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aff70412fca3470198ea4250df6513863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a0d7be57c9287b8a21dbe57d3c155a300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae34615eabe00ffe38ae4e388f0b41c60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aaaeb43b6ff6ba8f7738f9031641d3be4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_des</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a73a4a2b3f17b42051ef43744b10c72a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>abf1a1efa15b2535ee510e94338e38e06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a1270c27cf2991d9e0d6f0e3897bc0f2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_des</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a7561564d8db7b64961a670911c163f9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a17dba4b1052953913d60db4acf9a01d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ac6d9f5cfc482fb14cc1c6c411537c7c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a1c9fed354b9d3b159876342f62322639</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a846a8992cd53a568bea9eca3e55df9a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa10a6f08092077165c1417a377cf3206</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ab4eedaf2bc335d4867a884538c038d09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>abde2a92564bb6c5a7606f7b0b6c51f0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a08e9f39ef19d563921331f754c0f1a72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a242a75d3741f8308238e973011a7989a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a86a6148e66109150ff2d4c3af8713029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>afcdc0e47b2b912bd03ed5e5c1334d2e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a28e3ed64badee7a0948339829e3087df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6823f0cc95c9ad66e78818f60c9fd526</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_post</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a125e15c87b8fa03cf896aa49aa083ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_pre</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a2dc525982887e792aa3b724261d71ffb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6399c57672b09e05f62fd7707822baa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COM</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a832b6336ebc00a4bcfda5a5dc2cc1f7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COP</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a58b078cba73a0ee17aa6924795b02b86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_FOOT_TRAJ</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a0830af3cbeaf7766d2ed538940023734</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a1d65b7707e292a9292c925e02e6b440a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a88fdeda800a0d9d20b0ae2ab1e8143c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a8c4b080998628be838b4ab3860953c64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>q_list</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aff1044c679db6ecbbb6f63e1910a0348</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_log</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a3cbee6e804c285a7a7341ca1f9cb489f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>qp_data_list</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>afeef06536a0779de4b0533d495cead57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>replay</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a682667f167ac112b30a9da5e74081477</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae32a16f1e6a91a81d85cf62fd59b5302</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa950d5068dba7d895995de6f7de454c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>t</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ad07bbc48455b4c31a5b2fc2d1345f53f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a836863d68e7803eb62ac3978f66362f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a94e17284f3463f0b7ef49e8ae4bcb7a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a0e80a9f60d602a70a709177704a61fa6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>tau_normalized</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a6157e7c782e6973993c7b820b5839f97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a15a8e96672c0edc1c581ddcb32b37d4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ac7c27732ce9f829c507fa0491aff174e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a64ec45febedf63e3161809cc4d7c094e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid_biped</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa08c61a919e937ba1d78879655f6d863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_EIQUADPROG</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>afb5c182c6bda602b6aaf49ec51ea286f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_OSQP</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ac2f5bd1844687217bdca08e844488e71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>USE_PROXQP</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa39271da1deb5bf4fdd84b155500a5ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a9f348940a521fa869815f42462f4922a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_log</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a2da74a3b478216990fc428810f27d852</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>v_normalized</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a5a69dfda48ba4b7e8260ded16b35f43b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>VERBOSE</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a446c27ad4e059c6c63b429f3add7febe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a635f747676a38daaf1217b17ad368892</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>aa092c7ca12bae69ee3a7acc7f9451084</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ae1871ce15d656c829702350c2079be39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_rf</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>a7640ce4f295e61cf5fa9543ba7f102fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF_ref</name>
      <anchorfile>namespaceex__4__walking.html</anchorfile>
      <anchor>ada25676d94ffe07d6b5da3a8402a2535</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>generator</name>
    <filename>namespacegenerator.html</filename>
    <member kind="function">
      <type>def</type>
      <name>create_7dof_arm</name>
      <anchorfile>namespacegenerator.html</anchorfile>
      <anchor>a31d0755cba2688a097881cee2dc951c3</anchor>
      <arglist>(revoluteOnly=False)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>git-archive-all</name>
    <filename>namespacegit-archive-all.html</filename>
    <member kind="variable" protection="private">
      <type>string</type>
      <name>__version__</name>
      <anchorfile>namespacegit-archive-all.html</anchorfile>
      <anchor>adffa1c135f4c9da96a0d96e9f0a7a578</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>omniidl_be_python_with_docstring</name>
    <filename>namespaceomniidl__be__python__with__docstring.html</filename>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_rreplace</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>ab5be471acc7745deccd768d20cac9348</anchor>
      <arglist>(s, old, new, occurrence)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>run</name>
      <anchorfile>namespaceomniidl__be__python__with__docstring.html</anchorfile>
      <anchor>a752645ca365e1b6b5e3976a944e6fc6b</anchor>
      <arglist>(tree, args)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>plot_utils</name>
    <filename>namespaceplot__utils.html</filename>
    <member kind="function">
      <type>def</type>
      <name>create_empty_figure</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a09cc7fbe354a1924b3280ecdbf711b9d</anchor>
      <arglist>(nRows=1, nCols=1, figsize=(7, 7), spinesPos=None, sharex=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>grayify_cmap</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a019c803d5f54702f3f4b95d8719ca436</anchor>
      <arglist>(cmap)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>movePlotSpines</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a340a715d3614f6f9b0b1b801fee9ef50</anchor>
      <arglist>(ax, spinesPos)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plot3dQuantity</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a3704c6badfa988256a57a837bf7c38f2</anchor>
      <arglist>(quantity, title, ax=None, boundUp=None, boundLow=None, yscale=&quot;linear&quot;, linestyle=&quot;k&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotNdQuantity</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a19b4661498e68ed0fff256a79dea93a7</anchor>
      <arglist>(nRows, nCols, quantity, title=&quot;&quot;, ax=None, boundUp=None, boundLow=None, yscale=&quot;linear&quot;, linestyle=&quot;k--&quot;, sharey=False, margins=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotNdQuantityPerSolver</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a4a3bf71b885f05ea9408948100ff2bde</anchor>
      <arglist>(nRows, nCols, quantity, title, solver_names, line_styles, ax=None, boundUp=None, boundLow=None, yscale=&quot;linear&quot;, subplot_titles=None, ylabels=None, sharey=False, margins=None, x=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotQuantityPerSolver</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a00f96fdb9cc6423b7e0d41040f084b7a</anchor>
      <arglist>(quantity, title, solver_names, line_styles, yscale=&quot;linear&quot;, ylabel=&quot;&quot;, x=None, xlabel=&quot;&quot;, legend_location=&quot;best&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plotQuantityVsQuantityPerSolver</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a88e04b0e2754b54eeeb80518a2a37cd7</anchor>
      <arglist>(quantity, quantityPerSolver, legend, solver_names, line_styles, yscale=&quot;linear&quot;)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>saveFigure</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a9459c99859e955e9cd4e99ac197a9da1</anchor>
      <arglist>(title)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setAxisFontSize</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a6c323a1b51f2e9223051a939cac02efe</anchor>
      <arglist>(ax, size)</arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>BOUNDS_COLOR</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ae5e77238724d3ba70c451c87c46dd49a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_AXES_LABEL_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ad207685fc7ae924fbb9b6b14d54bc9af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_AXIS_FONT_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a45f46035124fc68e227748ff3efd2d2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DEFAULT_FIGURE_FACE_COLOR</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a73f106828423f7ad6bbd3bfbfbdc0a98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>DEFAULT_FONT_FAMILY</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a16dc9e205a223274f3b91f610b63a385</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>DEFAULT_FONT_SERIF</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ab6ccc208cfd923ae3f6f7d6d76e2bcc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_FONT_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>ad0302a8c40525aee0d06b1162e86f7a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_LEGEND_FONT_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>abb84a62f849222f00127944014e467ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_LINE_WIDTH</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>aa87d5ecde77092dafcb6d680f6fd099e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DEFAULT_MARKER_SIZE</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a6832824a898656d7dc34830cbfc6b5d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>DEFAULT_TEXT_USE_TEX</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a5bb0651e0b8990759de57871eac3b74f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>FIGURE_PATH</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a2b0138a615f8f7bb39eb467a87e7b190</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>FIGURES_DPI</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>af28a3d525541aba8063f875980cc87b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>FILE_EXTENSIONS</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a2247b98b1796de55381d7184c577a693</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LEGEND_ALPHA</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a8ff15f1ca8d4b847a0da521a3aa7657a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>LINE_ALPHA</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>adf7dc8bb2fb902e6d58253ab3cba8d89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH_MIN</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a6dd3d064e7e52d6c5181399fc5e10f34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH_RED</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a4f000c8d6f3950c6ab9d5908a29ad0cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>SAVE_FIGURES</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>adaac19e424ef11111d12edd7cf235ea6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>SHOW_FIGURES</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a68bc41ce37e896e48c8c13f7e9bfa707</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>SHOW_LEGENDS</name>
      <anchorfile>namespaceplot__utils.html</anchorfile>
      <anchor>a345809de035ba03d6d5b6c28479399df</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pyproject</name>
    <filename>namespacepyproject.html</filename>
    <member kind="function">
      <type>def</type>
      <name>update_pyproject_version</name>
      <anchorfile>namespacepyproject.html</anchorfile>
      <anchor>a2313ad7f22fa0f714d7197917c8ca8df</anchor>
      <arglist>(version)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>python</name>
    <filename>namespacepython.html</filename>
  </compound>
  <compound kind="namespace">
    <name>romeo_conf</name>
    <filename>namespaceromeo__conf.html</filename>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ace459918566a1b4bf387399de46c89cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a8baf52919951dd3830bfc41fba4e05e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa3f65e56335eb2df7423d45a0d166112</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ad55895652bb19cc2fe970e8dc3658249</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a6190659d13b2657700fe84fd281cce85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a4f8dbdee56bf25ae30e1de20dff9e598</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aba5ed99ad9b1845fddd1fba92531b8f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a97216a91fbe2078298ff4b130a7f9c00</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ad3e5a4813c46ba5237780aff7b228f8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>gain_vector</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aea320adc9c8ec49af6161c8b5b61b4a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_am</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a3cea9d44fb6f82e85f03d9c75e54e3a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a8faf9fc8d878a74121c3aa97b5be9327</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a08ecafe4c53d17dcd286680283797474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a296aa7c9752e74cd79e2889d3511c753</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aee129074c889ca5597e886e3bd0acb58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a3d6abbe82423d0af3bfb4b40faf03f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a43c94ff9b593ebeaf18a958527b460b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa6dd80a0a70a93c5f545280c02a59178</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a9e9bcc4cd35201731e3eb262b4bc6a9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>afcf93cd3b3be137fb6c1d758bbae1935</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a76cb8df303ad81858176c2688ec1a231</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>af75b30e96e5d33fed571b143a21eb548</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>af9fba77099cbf7b345a8bbc431840799</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a466c93a84fd02e9481fe4bba79d58f28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ab6e24d7d0a92d484f1371efdc7b70b96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a0fc5a5dbc555ed9ac095889a5f290cec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a7e0e913b60fef425ba951a0004f73d3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aebd898649931a3a08e1eaeb6c1e2be90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nv</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a03becadef63f133ebe2b3ed401cbeac5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ab0d399751eb28ef1323a9cf8ce498626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a9d48425c295a40a3f8482422a2c38bc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>acbd1cc9db348f62a24518a62e113975a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ac27879a34810543f228e9a2dd96248b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a4ec8d43cb9001071690d94d6dfb5c091</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a48801287fa9bb7ac7abab03d0a1996dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_SPHERE_COLOR</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>afe0adcba99a8e0a86de0c77d9e320463</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a0e3956283e7baf6f12566d9e9e78d771</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aae2f2ffd3cf945224f6dd0cdca1ec6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aaa06ba82f54acf703af56031a8f77a0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>afc294e358a4b51b2e8dea09f4c9368fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a18b37daeebb9eddf393b2b389ae5d7bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a31594f7337ae2544f6900a15f5cf0e3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>adb93cc23eaf5acb030b028113b4d834e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_am</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aec40172ca8acc2035cc227957f44e86d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a9cd95bb3d1ed2f4e6f6162d003e2120b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_contact</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a820e855f05f0aa7b142e5498d249e4f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_cop</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa9eb919c8de43a7e8968a15cbdcd5abd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>aa8f3cd0b34802fb75de5ef7ff25cfe1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a55d474708fd008b04e4e2597dcfa8ab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a36a25d65fbdb0a28bcf8c498aff49e98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>ac1ce738a1f895aaaaea5ce4377f9f8f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceromeo__conf.html</anchorfile>
      <anchor>a5149961d71f1c28e0b37590510d158a1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>setup</name>
    <filename>namespacesetup.html</filename>
    <member kind="function">
      <type>def</type>
      <name>absolute</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ace87a65d75cbd054ca349e16bf6039b0</anchor>
      <arglist>(src)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef51ce1b22cffd404370dbbcaa8c7d4</anchor>
      <arglist>(value)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cxx_standard_cmp</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2ef80ec10cc729c8690658e5470e0131</anchor>
      <arglist>(lhs)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>GenExtension</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a277f5c34eeba057f5efd9d013d762376</anchor>
      <arglist>(name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_lib_name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a642803465132c79a163348c6f91c880d</anchor>
      <arglist>(path)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>chunk</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ac841690a327d48358d0aa6c3da5b8003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>config</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1ff2a74642e15658e2c46138d2a73f72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cxx_standard</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a01e02c6fb7f2c66a9fb3daa4025be584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>abab7f7484072aa53119cd89cbae7c862</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ext_modules</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1bf56ea61d1e9865f316116dca2fbfea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>extensions</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a7d6a659c7fd056d592f248c1a98e6f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linux_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a019bf0e760b51815dc0818627ebb4c17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab3a7a0638d76a01367c5bc3cc699447f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dictionary</type>
      <name>package_data</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a0a5ccc22976d20d42c6bb6c7651ce0be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>packages</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>aff2375a361fd5865c77bd9aa093be747</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sha512</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>afd75da7bae5803e88a0b20ac410de369</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>src_files</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a8b0c506f6c8d68e5064a3bdc042c3b75</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a2aa722b36a933088812b50ea79b97a5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>version_hash</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>a1573d7834565996eab83d4d029075c0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>win32_build</name>
      <anchorfile>namespacesetup.html</anchorfile>
      <anchor>ab1242eec890d42048d0a2d0da8c5ad81</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>talos_arm_conf</name>
    <filename>namespacetalos__arm__conf.html</filename>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a87cec10ef1973f7e55bb0cd4d053c113</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a014632a84809437f748e5fef9c9f7710</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a6e3c44947f604169f9272359cd0f3cef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a2bcc32546df5325a20ed5fe1c5d75e83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ee_frame_name</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>aff9390e50a52cf2a0124966e215865c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ad1ef5ec00de93cdec9c2a2cef23a76fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a656c30823570147dda1a8d73c594aa11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_task_mask</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a5fc242c02230c013628c111aaacdb104</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_ee</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ae1ba2bd35a95e2377b185d1f3d910859</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ab8895eab004080ff4e869ee7572e66cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ab15e3c542acba73dc8da6eb1c90f5dc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a70172910733cd31d694ee772e64c7708</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a8f58eec1f3c357c7c790296bdedf97eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a9bd2f8573e08ae5e5c85e75671dd57dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ae22f62cddf271148e04d6408f08b9a25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ab9e62d561a1b3969146b329c7961d9b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>af2f6b93bb69f8ba5d02c9531df6e3cad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>aad02e57dcf18f329cb448f63743a7741</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a043a3e7f73d52daeac283c8b890ec8bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>aa2e6fa1d0fb5acfdf2b91a625adda4f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a4f655ea0fe1d3ce901d89514b45bbb9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a9e6b9362e1a0abf44ea77d40f3e97af5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a7c6d96ac2dd6f87081c6316e0cfd2de7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>two_pi_f</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a1cb47009df3b5f5e156e4de05ccfd9d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a70e54a32c8722068b34b56b27ee65f9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a426566067fe79f09f0c37a08b0d70159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_ee</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a4070d5ed3c1828d999da770778ea0875</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>ac839add5a343d32a9c1f0f2696d9edf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>a6fa3d2cd9ed74c4fc347501b41df2552</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespacetalos__arm__conf.html</anchorfile>
      <anchor>add46bf989241a7aeebb2efc2f14bcb1d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>talos_conf</name>
    <filename>namespacetalos__conf.html</filename>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aaa6d1357122960b89a8c664f6cc1c69e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a6589fb794b5b61a7609c0327484a9199</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>COM_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af5958fe40ddd151953369ed2c2b4f9d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a6f80c7172798278a891fd82f99d15d60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a858091572761428ccf72e5cd53da3f0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>afed72dbd3386724190ed04ed9121f5d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a849d481ed02c75c55f3d94e612e3ea82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>acc1b698d8371beaa39805fcd965abb7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gain_vector</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aed383f4333a25f4704298d6c0d015fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_am</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ac702029989dd5871ec24bb1bb5eebbae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a997d6f464b1f8bf1dc6178fcb0490dbc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af741e9c0edf5d9d9efdf3d5f82f478aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_foot</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a9465a7c632cb3bd27585617824ac5ed9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ae61a693b1e83e88c045a90404714e290</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a2dbe0fb480e5a4f3262d18fc2685ba9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af48afdb7c9eec4e63154ed6a95df3182</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>LF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a34e4780b6639ba95738393ca63f62778</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a08785c7ac6b85b351fa4fc30198d2234</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aadbc7102a68d9bc516ef8f0057e37d74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a662c99e3b2c6b1f8c099c18afe57f581</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a31995c3af3604491c2b9da5f0fb41c55</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ac7ff18031ccdb4262ca9f8a2e5149e4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ae8273c11c0dd7c1dbade4378a4b23190</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a33e4f9d6e85aca2e4eafda354da68b9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>masks_posture</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aac9c63383e55b48d1177d481b420f68c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ace4ec382173abe1af4305bd27154daae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a3de9263ca5037e41c9482255ff1d6d7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>ac3aa6ff1d1afab15cea0dd3d4acbe056</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a226158b4012606390e18c67c465fe9b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a9550ac007e54b14554fc42bff1218710</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a7675c969c330b498861ff96405029379</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a0fbe440c2f7725c7a83c3c129683365a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_REF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a56d381cba2bd6983f99875cb69c5f9dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>RF_SPHERE_COLOR</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a27d600cdc3a9b8581edd65012a6cc166</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a83c2397f7d34e1d5d5d7ba278c8db743</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>adcf99edae4b193397bac934f01315cc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>aa539f5f288ad30aa88c7a0eb363414e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a586ce2bda2010a10a527695c0eaa1575</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a7aabb85f1d147db3ea6fc13c34b18705</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a0f7d0df16875eb47de83f97435413c69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>viewer</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a51851a64c6ab9fc1c5a2b360888eb3ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_am</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a820e9232682fcd17b02891f960044ccf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a2d7dcca404ff1d7479fff0f9ad25a135</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_contact</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a83abbf4d3b725aad7bc765fa95922046</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_cop</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af31182a4c5fbd06cf5bf817a9fecd718</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_foot</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a6b577c232bd4c9107d8ed599173a44f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a570b226eb278b9423f606c77104ff47f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a8322de8b85608ddd43e65adde45bfba0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>af99113e87f40903fbd047fb7eadd9b0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespacetalos__conf.html</anchorfile>
      <anchor>a857d1798534c6d98ef1809e919f02e20</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Constraint</name>
    <filename>namespacetest__Constraint.html</filename>
    <member kind="variable">
      <type></type>
      <name>A</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a300c152d0f862043c1189df1fca8ee2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>afeadf16fbb6f9ef161c4781a48e95495</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ConstBound</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a621f53f4449403df6fd322b8622c761b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>equality</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>afb63f87d7d3089fd4752b474b4a520cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>inequality</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a552af3d52f7aa7b1e88190259ba33f73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lb</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a14e2fc8371eca5fae459c7bd70925592</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>m</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a2b08538856ef37b981b57d2ac72f875f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>n</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>a6db7d6893cf5b6ac39429547e88ab5f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>aec403ab6dc6803dec3c014dbd3cc9bb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ub</name>
      <anchorfile>namespacetest__Constraint.html</anchorfile>
      <anchor>abb4feac2881b2ed3da3cb8687186dde1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Contact</name>
    <filename>namespacetest__Contact.html</filename>
    <member kind="variable">
      <type></type>
      <name>contact</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>aa9d78b0c91fd7b0324152ebefae8bd51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_Point</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a65cfb1d70fe0c45e56436b3dea290a0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>adfd91618e135ed941a992274d833e87a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a585cb18b02841166428de3d93f9db1ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ad5528fa77214226014eeb4640539d159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f3</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a92e029b98a5b6c8586582e09c7f83fc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ae08b3e7e64a6b0d95172722e39e78b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a9fa40f100181e9de4d670c21b6ca98fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ae8d982754afd62703d4dfd6fa8d0e7fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceGenMat</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a2dbed9664fedc64f7f2cad04625f7aae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceIneq</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a564507335a7edd7fe4fe8a4289d1ae89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>frameName</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a01ca0cab8a0672e8b9fff9d2972a8e52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_ref</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a4ae380cb595a8c163b2ebf0976212dd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>Kd</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ac31a17f4d39c92fbfa4853e0feabf703</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Kp</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a28374650e3571409890d451410903e5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lx</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a352bf82035a471195e0c771a12179ea2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>ly</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>afedaaaf9fcc6afb5b233bfb0850d8603</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a752b6e5caeefa3a8a034382eb5a94ad0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a2ece0ffb92fbd2250f3ad50a2325584a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>abf5d959b982a79d524972224fc3a0abe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a2c441e06095da9e17be6b598c15af73c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a065b55dbf20861084cada23cd416212f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>abed0853072a3d7695c5eaf77954d0bdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a6abe38b739dfa8d4be017c15595b5c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a935b1ec56c8f592a79224be837753b15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>ab688e74c85bfc062286570082bdbf3be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a232404db71079c53dda880c9280fb92d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Contact.html</anchorfile>
      <anchor>a3b32b23dd923c9f88df138e58e59fcbd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_ContactPoint</name>
    <filename>namespacetest__ContactPoint.html</filename>
    <member kind="variable">
      <type></type>
      <name>contact</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>aa13adda88431a3a937e4db4082ab0ff5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a9183cdac3a1bc70e3a4bcc09a2d24f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ad194b0824df5f35af590e59cb180e3ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ad15e3f40a898c73d7704551933d27178</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ae374af802ddb052bc0d897ecff80e4db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac6c30902ced5df154aed0ce34b79317a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a11f1a2b7b18db0a3d79f4730906436a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceGenMat</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac73c5ad893c42d63aac51f875a4c8dbb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forceIneq</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a966eb5b6b3c2245313ac448adb4c0298</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>frameName</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>af1089a2087fc3d2a412b09249028d13e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_ref</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a243673e585b148d8468eb43505e6869a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>Kd</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a146c3f5809016ff0b463d5ad93c3bbcd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Kp</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>abeca8fb48c518f2c4b9caa03872a5d97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac88a0162c65960048da2b1ec69141c97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ade3cabfbe10963b4142d030ace7bd5ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>ac71063334b13063690e6602a4db55749</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>af8d4b7630bd57f79521d1ba4d7dbde36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>acca3ca9198b755a03c6170dd44bc26d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a48bc9d25ac81987da140532044a8f63d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a15254825c9ebc798bc5b1d8879f05c0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a21bf7fdf57245f4a4824dec5c9d1f640</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a5fce5df6dc1bc5b94598452d2ed558a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__ContactPoint.html</anchorfile>
      <anchor>a5947ec1e4ee3c78eb508a88aa9537486</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_cop_task</name>
    <filename>namespacetest__cop__task.html</filename>
    <member kind="variable">
      <type></type>
      <name>alpha</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acb562961c2d4046e1528cc9a7317fce6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ax</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a2864fb09b2b753e67a0fa0e79c03b857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a337c768630579e781d28aef802cf9e74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>com_acc_des</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a910bf2896a724032592bba5920385ba5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_acc_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac86752bc030c8c7e5b44a1d9ca141e07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a81066f0efc14e6b6132098d14c72458d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_pos_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acd772d929564b0feb4f42f88489cecad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a008fe488f687e8c2d6cf869ad0aa5118</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com_vel_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aa01d909c4d1c4b7612c4d8de4ef18e01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contact_phase</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a8dd3afa7ba4519f7fedc49e26b8df4a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a58de84d99e917cdec27ffb9a65d07029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a301657397aa08be3ca49ed0adb33c31c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_LF_world</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a71b2977c9c0db0441ded5abccc996649</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a3dbdd05db16a4a4695ff0de59fd75ceb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ae0ab66060e5051fdbeac63e537622717</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cop_RF_world</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>abb34e9017ca5f06d022f7a4951b06356</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac35eafd73ba527c697ec56690257a996</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>afda95795ab8416e89ea4055711ae4aab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_des</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a4a1179fecc77dae07d29d699191b8276</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_LF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a15894cda83d50130fca680116141f6ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a363bd9f2de48b2fba250d69379690902</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_des</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad7dd4041ed0806d0582048fa7adfc52d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ddx_RF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac4dd619bc386355594b34cb19d304e7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad3db27c78264983e3eca57f20cea7403</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ab97f1866359944c5ef8666704d561879</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_LF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a76dd1b24909d2858930bb3531af211f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a59993f40eb2f13c074ddc0af4976fc8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dx_RF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a814c74bb42a2bf3e88ac3df2fc7bede7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a38c84a63d86278071f760a529c0a9e79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad123b5434c53c61268c1e7cd50f7b8b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a3185d6c8110d405845fd6f3c97d572a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a77db090cdcd0215028a3a614f796aa1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a81ee72624eda9fdf865780a312b13fe8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>leg</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ace1b74f2d35ad16f4532c6092dae61b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a167e8657f5459664f51501678e70d928</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_post</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>adf0e67923e4f72b009de253cb7065527</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>N_pre</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a472c4d6d8f0e6adf9ffb400ecf9b3535</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a4b674c0025e178be0aad0101b6388c0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COM</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ac3d3e9ca50bfc7d3144210e3709008e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_COP</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a999fc3715e9134c532239cec7c8bcca0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_FOOT_TRAJ</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a174ac2376a81e536e4784b770528d899</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_JOINT_VEL</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a052fe565b2b29524b50cabd6f1b19538</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PLOT_TORQUES</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a054fa504239fd0fcbe64d8d8bc7d4cbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>af868da0c0b2f10765aa9fc8cd0f732ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_log</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a375b81c9809e30ee1c44432d61d6c565</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>ad7eef48d9fd318cad74c2ac5f1db31d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>t</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a567e1f3d728e1d50f818bb16d7127f34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aaa6bc5d3f0268f6e5a26702fdf6c2f16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>T_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acf3c24700fc50350bbf2f2d480d9f53c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a6eb59e3655b5ac1b800a07484e76e445</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>tau_normalized</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aa4ebbee5fe88b7d72a8ad9ff65583df6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a90958b619054c978400d37b07d408c2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_spent</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a27455eba9b1b3372515b1980340f545f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_start</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a9d2a74c1b8a2708772399fb10e4ff8a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tsid</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>acd5bfb2d66411d897ed1652d53bf3480</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a00b879fbcf9bcaaf65c61d9b37127c3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v_log</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a0cadb94e09e5e6e0cd558e76696e0b74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>v_normalized</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a7d7b229907942acc31766d0c0c258955</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>aaa96f594e8aead12e653836f04079db9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_LF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a262747a742e9fa5d39459edb03c5b6ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a23344fa567c7bbe4730f1bfe2d54a909</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_rf</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a1e3868941fe13b799e183d1c4b0c0ac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x_RF_ref</name>
      <anchorfile>namespacetest__cop__task.html</anchorfile>
      <anchor>a47c90efe310a5a85c630138dfb6d4787</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Deprecations</name>
    <filename>namespacetest__Deprecations.html</filename>
    <class kind="class">test_Deprecations::DeprecationTest</class>
  </compound>
  <compound kind="namespace">
    <name>test_Formulation</name>
    <filename>namespacetest__Formulation.html</filename>
    <member kind="variable">
      <type></type>
      <name>com_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ae57705992a74cf9677d00bd80137bc9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>comTask</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a292257847c5789285cc414e35a44adce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>contact_Point</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af9d27b2bdfd066271a3a038cfa44471c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>CONTACT_TRANSITION_TIME</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a083f8325ae600bba318f2e1c1822d474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactLF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>abe2139fed31a2126d4952e9ab9a6963c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactNormal</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>afe1659a5ccc91a5e7fbea7c86710ee0b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>contactRF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af550890e111dd3fc8a6c3adc20f7d733</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a9ec9948f6a1db5a896816d42093dccec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a2323e780ad8f1617fd0827498c57cec4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ad0833f155431d1747558a07a42185f9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>f</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a08c29c3b8bc99ac797d5a43d8af737dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ada344f509ff3a02b14f7dc00018ba3e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMax</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a236d97674dcdcb304af4ceaddde731c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>fMin</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ab7d1fc3c4975dfd69477eba576497351</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_lf_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aaa6a5a1fcc1fa85689b9bfa1a7d330e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a4a4594a2bb8746efcff62c844da26dbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>H_rf_ref_vec</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a3b5020a016b4fc8edce5fc5adcd38b6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a6ad63081b41f5e52d3c7167b6a76f6bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>invdyn</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a37761bf490464ae5cf699a32368f23f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_com</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aa9ea427f7cc67c9ad4ed2994a46a6b98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_contact</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a06db148b2c750d66475ae4305fd6a8ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a64ced8996cc14bc919df0c167891e2dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_RF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ace43c9a79964491112ad635945f3281e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>lf_frame_name</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>adcf6d502840e91bfd6e7d1708daef02e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxn</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ab80df828972919f7a60982df902e3430</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lxp</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>afe99e2b15c53668a03d14c1d991bd6da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyn</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af61ed3e7ff554b9e022d42a7b19f4f7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lyp</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aaa23149a399eb582e41e1d7fa3f9857b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>lz</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a55bf92abfac593fe0bf944522e5e3a62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_it</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>adf9ace6dce04aabe3d0fae649d6d4809</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a7deee6d359c5964e040c78a8c0ab9e26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>mu</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a8b579c449b7b08455d0076068be175f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a24500dfdf3657681034ffa7cd23a1638</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>postureTask</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a5ad339eb0b3012680f886aa4cff2cdad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>af8a74b476e3c739c9a2c5a4e667c94a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aa356cd4cf84f2cb70d6541dc772f815e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a8faaa843e0709e8eb9cc23da0b6f0df4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>REMOVE_CONTACT_N</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>acf3870b8740faf00a451a72253f387b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>rf_frame_name</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aea21c0f93b05e93e8b138720b1333814</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>rightFootTask</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a61413bc3facb8323c92e53a7b336f0ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a43f216a86f1032a56e2cbf3437a9db3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a7597f7b6f447695692760f639b47b426</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sampleCom</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a45554c5642a471f18cc2d64ba4ab7e28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>samplePosture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>afb3ce32cc8e50101386a57028015f44a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sol</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a4c7c996b3051a772c7357461fdff7ae9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a2a92dfa1885eda1c66dce1bef78bfce0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>ac447f5901219b1989f58c1786d8125ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aa6e6c7ea4275760b4876e0f89391fd58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a0b4c80742856c7d66f1b26d91722b7ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tau_old</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a141abe9859cf90299df8a165fa62b6de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajCom</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a476b4f75287619937a8a72162da416c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajPosture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>aef7ee9929d5256b3465e8817f91cd376</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a2335b1e0f299419a0b5bd23bfc1bae9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a3183628e817064bab8ab8d06217021a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>acf786905d6af3242345d1a672ab40f61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_com</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a75dd98aa74cfc268c878d1122118125e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_forceRef</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a1e921d3e33b3dda941a3d02b4ee758db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>a40573164a195e0803304cbb919c07b16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_RF</name>
      <anchorfile>namespacetest__Formulation.html</anchorfile>
      <anchor>acb6aeb14fc4cfc9713eb6d2397adb17f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Gravity</name>
    <filename>namespacetest__Gravity.html</filename>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>ad61afeeec27d4e747a1be2f3dceae78b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>init_gravity</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a1a1f474b49cf56aa1fe0073bd278f1cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>no_gravity</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a9fbd9b4507bb878c18caaee8312d58f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a644a2cfd85f0b0ab7948eb03985d7a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a8ea7b935ae767b353a25edc1499b38e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>ac82601f05760a5c7701ea2321b7fcd61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Gravity.html</anchorfile>
      <anchor>a84e1ded300485f9f41251fe0e4ec2b18</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_RobotWrapper</name>
    <filename>namespacetest__RobotWrapper.html</filename>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a6e7dc6e7640a2599544c5fe62f228e22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>adb47d9ecd2e6513aca342597b83a6bcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lb</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>ae6690a67c594b7738ac30d5d6e81d890</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a4b8e659d1a5091642afedc82e98b8a9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>af0360ffbc1c05588e2abf10351116c49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a7f4033aff6f8c86f80098bd8aba7e06d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>ac3f8d6dfb2bcf4df03c18fbb20c9c29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ub</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>ae53aa961ef744e8812dfa388a1050816</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a1013fb186d411218c53745cda97dad0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>a921865340f88662c54522b52c20753c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__RobotWrapper.html</anchorfile>
      <anchor>adc1b8a4de0b86af6f931e5e0dd1a2214</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Solvers</name>
    <filename>namespacetest__Solvers.html</filename>
    <member kind="variable">
      <type>float</type>
      <name>A1</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a312c2ac2d79d172d9e987b86eb80ef48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>A_eq</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>afc32a7e9821c4445d5bb82edfd2110fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>A_in</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ad376ce77833b2a3aa918c96bf353accd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>A_lb</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a0b10000690e6b3c81efe1a6254a2c7e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>A_ub</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a27893be7851ecc8293aa6dbaa101e84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b1</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>acfe2c66c371fa8303aa7a4ffe5af5bf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>b_eq</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a87a424de45e264f3c12d0d16fd8eed37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>const1</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a92154d335d7e086b37e79e88c7ecaf5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>const2</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab7f48d68108cbb82f6b18f54854ef122</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>constrVal</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a56952a98ed0487c9a257b12086b420bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cost</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a35eef8b9c3430344f9886582d3a2bd0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>damping</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a5be07fcdf9c6af66fb782039d7f0d6b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>EPS</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab169abe67dc85fb0eff140f6f2a44992</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>eq_const</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a211271f7b25107698195ac5236d7facc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>GRADIENT_PERTURBATION_VARIANCE</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a4b48adeb71b619057c9754d17b0d52e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>gradientPerturbations</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a6ec6be78afd9d5a7d9538aedeb11f276</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>HESSIAN_PERTURBATION_VARIANCE</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ada1149a7b825a6477fa3702677361fb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>hessianPerturbations</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a9979b844442998543b9249d453b16eca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPData</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ac38b2b2cc946ffd7923861dc48ba0930</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>HQPoutput</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a29368e6cb9b44770fa1ecc15487d58f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>in_const</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab659a1835dce06fb549b9dad6ec13b77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>MARGIN_PERC</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ac404c34f4483fc689c39e9c9ef62f5b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>n</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a7f0cc9cdb25eb4f09bda1fc7d013f444</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>neq</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ab98215ff12f3115d1fc0de0c01689c5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nin</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a80aba271ec3485687f398a98d30c340b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>NORMAL_DISTR_VAR</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a03cfc305f68e1f1c9f7b7539a6a27035</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>nTest</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a76e0fc3a2699146324a0a40cfc255a2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver_eiquadprog</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a3e41d4923b0fe0afa875a992c70f5d54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>solver_list</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a23fd4ac16567a8396290a8baf90aea7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver_osqp</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a3a88cd5f6308add6e33b567b48cba89e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>solver_proxqp</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>a6443380ed194b77144dee98d9206fd6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespacetest__Solvers.html</anchorfile>
      <anchor>ae8c371b2dafb9a493974f6f34014d714</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Tasks</name>
    <filename>namespacetest__Tasks.html</filename>
    <member kind="variable">
      <type></type>
      <name>am_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a3e5db0e9915a4b4e21bd170f7a8fb182</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>com_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0fcfc489a897c15ff4be5bb518eba84d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>const</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>afd4b9434de2a79a864fec04a727b89af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a7c6e03343b071444014fc76be04ed549</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>data_next</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ac16819707e050e9b1685c58a73139364</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>diff_drift</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a70e9e8420694aa60ee0546f93d9e86ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>drift</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1c74ac9294a32b19710667c9ad8e4306</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>drift_pin</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>acac8bf9f6c0fb5da0aa10de1cb8a39a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a834f715bf9287d5f7bc797dd14a7f116</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>dv</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>aa20526c47c21eafff869f28737767e62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>error</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a80443cf6e1c4dcd363c206cc29eea43d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>error_past</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a17bc5d0878357c0109af40b587ae795d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>filename</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1133a500ffa79a0eb9341816a0a60238</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J_am</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a61262ac533dd2c73a069d098bf1b73ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>J_am_next</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a5be13ad986d881af4e0771bd53fd2ea3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Jpinv</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a19b309a341e5d822aa6c0a4933d5f6f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>Kd</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a05432b5391314a6ba2ecfbebd65adc1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>Kp</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0f08e1b7cd14ef5d4c05153f2bd16c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>M_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a02d80aa9ed3c289900d540b6bccb8900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>max_it</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0c0bebc62c05bc89fa92cd77542a2170</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>model</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ade4841b36daf561423750cd040e647b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>na</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ae3652192fe9c8a31ae9fa5705651590a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>path</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a34fc3bc221af1a0e6a7ade5a5f38ca6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1030a90738721d9e1b37885094abb63f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_next</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>abbee349308d3d2faaab3d27460eb0da0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a7e29929258a96c7a055340cbb9ba8906</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>robot</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ad050655b25fb8f862cfae617c64556a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>sample</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a5e9a32e01cfa6b6a159798d43239d1ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>srdf</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a7cd7475724994ee7ba65da5b36a59d88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>t</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a3262c67ecfaf008923fd2b70565ceb06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>task_joint</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a1fbd75f2addd5e15e8e0baf5f4647754</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>task_se3</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ad1969294bbfc197afef249c780b0c26a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>taskAM</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a69f322037debc7f31701966bee53e38c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>taskCOM</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a5b41860ecda65ae4351ac9cbdcca5aca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a0bc784bc5585415d66a867c7e54df0a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a8a700abc189794aea90b3fc0fcf48d56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>ad1dcf27c38cf9550b74f5a740c7d0db9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>v</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>aab98b31d712eae43519f8d4be9e4b9ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vector</name>
      <anchorfile>namespacetest__Tasks.html</anchorfile>
      <anchor>a621d776ed75ae872a22f88e1f3164062</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>test_Trajectories</name>
    <filename>namespacetest__Trajectories.html</filename>
    <member kind="variable">
      <type></type>
      <name>M_ref</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a2b14d04bdc2930bf89408e79abfb2079</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>M_vec</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a8352bdcf26494902d696b8aa5991847b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>n</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a4e62151c7868eda3d164891eab3b2bf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q_ref</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>ad6333d7fb353a269f339f6b6c0ce1e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>tol</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>abd51e20f689f38d071e9fa7869659e07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj_euclidian</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>a3007056fb5c39e062b6098b2e4344dc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj_sample</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>ac7a21611bdec627f4eee93153c606a1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>traj_se3</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>af1630315b3d0f9e9741c8c4cc5774618</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>zero</name>
      <anchorfile>namespacetest__Trajectories.html</anchorfile>
      <anchor>ac0a871dfc43880e1cce29fbc11e2ae78</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid</name>
    <filename>namespacetsid.html</filename>
    <namespace>tsid::contacts</namespace>
    <namespace>tsid::math</namespace>
    <namespace>tsid::python</namespace>
    <namespace>tsid::robots</namespace>
    <namespace>tsid::solvers</namespace>
    <namespace>tsid::tasks</namespace>
    <namespace>tsid::trajectories</namespace>
    <class kind="struct">tsid::ContactLevel</class>
    <class kind="class">tsid::ContactTransitionInfo</class>
    <class kind="class">tsid::InverseDynamicsFormulationAccForce</class>
    <class kind="class">tsid::InverseDynamicsFormulationBase</class>
    <class kind="struct">tsid::MeasuredForceLevel</class>
    <class kind="struct">tsid::TaskLevel</class>
    <class kind="struct">tsid::TaskLevelForce</class>
    <member kind="function">
      <type>std::string</type>
      <name>toString</name>
      <anchorfile>namespacetsid.html</anchorfile>
      <anchor>ae68c6ec00bf7521c85c818fdcfbf1bc6</anchor>
      <arglist>(const T &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>toString</name>
      <anchorfile>namespacetsid.html</anchorfile>
      <anchor>a875c176c9413870d984bdb76a63da1c7</anchor>
      <arglist>(const std::vector&lt; T &gt; &amp;v, const std::string separator=&quot;, &quot;)</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>toString</name>
      <anchorfile>namespacetsid.html</anchorfile>
      <anchor>aea419de93a240458469e3bef0f5c3306</anchor>
      <arglist>(const Eigen::MatrixBase&lt; T &gt; &amp;v, const std::string separator=&quot;, &quot;)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid::contacts</name>
    <filename>namespacetsid_1_1contacts.html</filename>
    <class kind="class">tsid::contacts::Contact6d</class>
    <class kind="class">tsid::contacts::ContactBase</class>
    <class kind="class">tsid::contacts::ContactPoint</class>
    <class kind="class">tsid::contacts::Measured3Dforce</class>
    <class kind="class">tsid::contacts::Measured6Dwrench</class>
    <class kind="class">tsid::contacts::MeasuredForceBase</class>
    <member kind="typedef">
      <type>pinocchio::Data::Matrix6x</type>
      <name>Matrix6x</name>
      <anchorfile>namespacetsid_1_1contacts.html</anchorfile>
      <anchor>a9fc4a638adf2afe2e43fb5a5b61f8486</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid::math</name>
    <filename>namespacetsid_1_1math.html</filename>
    <class kind="class">tsid::math::ConstraintBase</class>
    <class kind="class">tsid::math::ConstraintBound</class>
    <class kind="class">tsid::math::ConstraintEquality</class>
    <class kind="class">tsid::math::ConstraintInequality</class>
    <member kind="typedef">
      <type>const Eigen::Ref&lt; const Matrix &gt;</type>
      <name>ConstRefMatrix</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a76cd3455f7c1395067a48320e6e66b89</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Eigen::Ref&lt; const Vector &gt;</type>
      <name>ConstRefVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7ca0004ef0478a915ac9e8cb4d310f14</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>const Eigen::Ref&lt; const Vector3 &gt;</type>
      <name>ConstRefVector3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7b5695e47ef482a62df80f0498f3fca9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::size_t</type>
      <name>Index</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a296f41bf58a6f8ec4495f7e667e6280e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ae3b456441c2a3f90a6576810a34fab3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, Eigen::Dynamic &gt;</type>
      <name>Matrix3x</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a37a8cb8d7d85d5664de5b28a0f932e75</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Matrix &gt;</type>
      <name>RefMatrix</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a0b55d87880e05666d91e040ffc8986ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Vector &gt;</type>
      <name>RefVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac6ee364255c3f0caa04f30716ee26570</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Ref&lt; Vector3 &gt;</type>
      <name>RefVector3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>af524ec50e2d10fe9260591981beb57e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>Scalar</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac15a4c4183921b76c05fc9d86b9b7476</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ab1987c09967934b39516ee83b9df3bc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 3, 1 &gt;</type>
      <name>Vector3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a4b8045eb6371f16c1b70c7e8caf46c26</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; Scalar, 6, 1 &gt;</type>
      <name>Vector6</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7555bdeabc3753ba3044879bd81fefdf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; bool, Eigen::Dynamic, 1 &gt;</type>
      <name>VectorXb</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>afb36ea63a4556ae7143b14575cd434ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::VectorXi</type>
      <name>VectorXi</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a8c8a1af084b38ae496a103ced75da260</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::IOFormat</type>
      <name>CleanFmt</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a1d9c51ec27b3c7c9354336cab8585f5b</anchor>
      <arglist>(1, 0, &quot;, &quot;, &quot;\, &quot;[&quot;, &quot;]&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dampedPseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a864b70c08f141a1ce48c6f47637e1d1d</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, double dampingFactor, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV, double *nullSpaceBasisOfA=0, int *nullSpaceRows=0, int *nullSpaceCols=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>errorInSE3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ac4b4a961a8a25a6b3421ec5cc707da10</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, const pinocchio::SE3 &amp;Mdes, pinocchio::Motion &amp;error)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>is_nan</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a4104284bf118f1ec3497f71c18230744</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isFinite</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a539f5189545c70c30a9c0415ffabbabc</anchor>
      <arglist>(const Eigen::MatrixBase&lt; Derived &gt; &amp;x)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Eigen::IOFormat</type>
      <name>matlabPrintFormat</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>ab9098a471fe2a9a6def50ecac16bcfd0</anchor>
      <arglist>(Eigen::FullPrecision, Eigen::DontAlignCols, &quot; &quot;, &quot;;\, &quot;&quot;, &quot;&quot;, &quot;[&quot;, &quot;];&quot;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nullSpaceBasisFromDecomposition</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a14818fc8b11173a09c81906c5449a3fe</anchor>
      <arglist>(const Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, double tolerance, double *nullSpaceBasisMatrix, int &amp;rows, int &amp;cols)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nullSpaceBasisFromDecomposition</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a55769faf54bf74fa25ead7b47de70aac</anchor>
      <arglist>(const Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, int rank, double *nullSpaceBasisMatrix, int &amp;rows, int &amp;cols)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a431996ff5f424ee8429b7468b188d694</anchor>
      <arglist>(ConstRefMatrix A, RefMatrix Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>afc73d553a5b194584f295411acca7d11</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, unsigned int computationOptions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a0f3bce8978d8524882426297017e0db3</anchor>
      <arglist>(ConstRefMatrix A, Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svdDecomposition, RefMatrix Apinv, double tolerance, double *nullSpaceBasisOfA, int &amp;nullSpaceRows, int &amp;nullSpaceCols, unsigned int computationOptions)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>readMatrixFromFile</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a84c62e8322095426b295ac076834060c</anchor>
      <arglist>(const std::string &amp;filename, const Eigen::MatrixBase&lt; Matrix &gt; &amp;matrix)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SE3ToVector</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>af24527ddde0e25580f82f3a49ab70685</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, RefVector vec)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SE3ToXYZQUAT</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a7632d7415bf148e9d7a3bbd372193297</anchor>
      <arglist>(const pinocchio::SE3 &amp;M, RefVector xyzQuat)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveWithDampingFromSvd</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a70348d45c4baf924ec9ecebc548e0066</anchor>
      <arglist>(Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt; &amp;svd, ConstRefVector b, RefVector sol, double damping=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>svdSolveWithDamping</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a1f71310f5be1d0c7acbfd924e65a6b20</anchor>
      <arglist>(ConstRefMatrix A, ConstRefVector b, RefVector sol, double damping=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>vectorToSE3</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a42cd55fae57d85c780651a9f26d12931</anchor>
      <arglist>(RefVector vec, pinocchio::SE3 &amp;M)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>writeMatrixToFile</name>
      <anchorfile>namespacetsid_1_1math.html</anchorfile>
      <anchor>a85f09df018d3e01e7da33723b822a15e</anchor>
      <arglist>(const std::string &amp;filename, const Eigen::MatrixBase&lt; Matrix &gt; &amp;matrix)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid::python</name>
    <filename>namespacetsid_1_1python.html</filename>
    <class kind="struct">tsid::python::ConstPythonVisitor</class>
    <class kind="struct">tsid::python::ConstraintEqPythonVisitor</class>
    <class kind="struct">tsid::python::ConstraintIneqPythonVisitor</class>
    <class kind="class">tsid::python::ConstraintLevels</class>
    <class kind="struct">tsid::python::ConstraintPythonVisitor</class>
    <class kind="struct">tsid::python::Contact6DPythonVisitor</class>
    <class kind="struct">tsid::python::ContactPointPythonVisitor</class>
    <class kind="class">tsid::python::HQPDatas</class>
    <class kind="struct">tsid::python::HQPOutputPythonVisitor</class>
    <class kind="struct">tsid::python::HQPPythonVisitor</class>
    <class kind="struct">tsid::python::InvDynPythonVisitor</class>
    <class kind="struct">tsid::python::RobotPythonVisitor</class>
    <class kind="struct">tsid::python::SolverHQuadProgPythonVisitor</class>
    <class kind="struct">tsid::python::SolverOSQPPythonVisitor</class>
    <class kind="struct">tsid::python::SolverProxQPPythonVisitor</class>
    <class kind="struct">tsid::python::TaskActuationBoundsPythonVisitor</class>
    <class kind="struct">tsid::python::TaskAMEqualityPythonVisitor</class>
    <class kind="struct">tsid::python::TaskCOMEqualityPythonVisitor</class>
    <class kind="struct">tsid::python::TaskContactForceEqualityPythonVisitor</class>
    <class kind="struct">tsid::python::TaskCOPEqualityPythonVisitor</class>
    <class kind="struct">tsid::python::TaskJointBoundsPythonVisitor</class>
    <class kind="struct">tsid::python::TaskJointPosturePythonVisitor</class>
    <class kind="struct">tsid::python::TaskJointPosVelAccBoundsPythonVisitor</class>
    <class kind="struct">tsid::python::TaskSE3EqualityPythonVisitor</class>
    <class kind="struct">tsid::python::TrajectoryEuclidianConstantPythonVisitor</class>
    <class kind="struct">tsid::python::TrajectorySamplePythonVisitor</class>
    <class kind="struct">tsid::python::TrajectorySE3ConstantPythonVisitor</class>
    <member kind="typedef">
      <type>solvers::ConstraintLevel</type>
      <name>ConstraintLevel</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af18eb7dd14285d5dcb93d0eb3628a9d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::ConstRefVector</type>
      <name>ConstRefVector</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab19d99e7726f4a12c43588d10df21ee6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>solvers::HQPData</type>
      <name>HQPData</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab3312a268b9da99e0ef963eaa73ca505</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::SE3</type>
      <name>SE3</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a1c7bf49fa6f60d13eb271ea706ecbcb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintBound</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a202bf4ab3bb395da0e1f7965ff1b65b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a5c6e562479ae4770a0e9e376a27a183b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintInequality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a8104d0a247620a080e639dce70134406</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraintLevel</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a200e2aef16c07998030ee8d4a39225b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeConstraints</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab7ce2a93e9a7db053c624bc54b2b08f8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeContact</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a5eefeeb26e24de0dbd101ff7328bf7d1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeContact6d</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a02fe27465c6476659346d23d26635e72</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeContactPoint</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4436afe247df70e6e5587af512636c1d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeFormulations</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4e3a5409bcdf4aec3384c71d8967a4bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeHQPData</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ad155bb574b5a63fff865907bb4a6b527</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeHQPOutput</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a4f2735ff5649826ae7c1ff5bc295002b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeInverseDynamicsFormulationAccForce</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a7b98f2510bc6582da745b8347a49f301</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeMathUtils</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa0e79709720893fc88c9373736dbee0f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRobots</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af34f5bd01b7b36e0cfa808d2e22f0f5e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeRobotWrapper</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a90256f3d771c7a68c77e734cb7fbf4c4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverHQuadProg</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>af5c1790d9c5e03ccf6b9d137f92fc75f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverOSQP</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa5dd96600ae210f91957dc10228cecee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolverProxQP</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a0867bae02af8e0f280dd543f5598f080</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeSolvers</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a8335d3dde5b410e37b76fca58ca96969</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskActuationBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a10970f19c507aae2531a76dff77df4e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskAMEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aba2a9bff8d8145bf018f227ac29e2068</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskComEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ab0e24fca883e5fe1c248c83ba4ba350b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskContactForceEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a6c688587b0be2b0a35b751c71cc0053b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskCopEquality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>acaca7b670e779d3d098ef66465d1a950</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae4a48970305d98905ef27e92f4d7da29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointPosture</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ac3ae1f2a84e721b6e3f14697a544a26e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskJointPosVelAccBounds</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae6976f89be90c75de7baf3f155a5e875</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTasks</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ae503a1d09f684954f315e5ef4ded2bd3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTaskSE3Equality</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a74df4dc480213996aed0b4d2e9dbfc4f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectories</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a986ac4d193db79c830943c8694a250e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectoryEuclidianConstant</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a1aff4f2d3f1ff8cfd2caef833d64d3ff</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectorySample</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>a321faceb9cbbb744188436319994cc1a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exposeTrajectorySE3Constant</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aafabc66d1aa78f3d50dbb92c2038f0c0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static math::Vector</type>
      <name>SE3ToVector_1</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>aa409bae5d53d9bd5571dbc4d8745cd6c</anchor>
      <arglist>(const pinocchio::SE3 &amp;M)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static pinocchio::SE3</type>
      <name>vectorToSE3_1</name>
      <anchorfile>namespacetsid_1_1python.html</anchorfile>
      <anchor>ac17e994151cad31f2b532f54927f60b8</anchor>
      <arglist>(math::RefVector vec)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid::robots</name>
    <filename>namespacetsid_1_1robots.html</filename>
    <class kind="class">tsid::robots::RobotWrapper</class>
  </compound>
  <compound kind="namespace">
    <name>tsid::solvers</name>
    <filename>namespacetsid_1_1solvers.html</filename>
    <class kind="class">tsid::solvers::aligned_pair</class>
    <class kind="class">tsid::solvers::HQPOutput</class>
    <class kind="struct">tsid::solvers::QPDataBaseTpl</class>
    <class kind="struct">tsid::solvers::QPDataQuadProgTpl</class>
    <class kind="struct">tsid::solvers::QPDataTpl</class>
    <class kind="class">tsid::solvers::SolverHQPBase</class>
    <class kind="struct">tsid::solvers::SolverHQPFactory</class>
    <class kind="class">tsid::solvers::SolverHQpmad</class>
    <class kind="class">tsid::solvers::SolverHQuadProg</class>
    <class kind="class">tsid::solvers::SolverHQuadProgFast</class>
    <class kind="class">tsid::solvers::SolverHQuadProgRT</class>
    <class kind="class">tsid::solvers::SolverOSQP</class>
    <class kind="class">tsid::solvers::SolverProxQP</class>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; aligned_pair&lt; double, std::shared_ptr&lt; const math::ConstraintBase &gt; &gt; &gt;</type>
      <name>ConstConstraintLevel</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a47580eeca9ab87f428997d41236b3da6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; ConstConstraintLevel &gt;</type>
      <name>ConstHQPData</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a7df68b12559b406b31862cba31d47f01</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; aligned_pair&lt; double, std::shared_ptr&lt; math::ConstraintBase &gt; &gt; &gt;</type>
      <name>ConstraintLevel</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>af2b094a1e6c8207df2f334b397d622ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pinocchio::container::aligned_vector&lt; ConstraintLevel &gt;</type>
      <name>HQPData</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a5c340fe942a9a5965a4c7b77d003f7e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>QPDataTpl&lt; double &gt;</type>
      <name>QPData</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a166511825dd2c5e775b3520e26399cf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>QPDataBaseTpl&lt; double &gt;</type>
      <name>QPDataBase</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a2dfe7604b6ad3d71e9fc471ed69b4e5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>QPDataQuadProgTpl&lt; double &gt;</type>
      <name>QPDataQuadProg</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a0bae8bb83e540169e10a8725984f5d26</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>HQPDataToString</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>aa82c316a8f2057452aec301f3ac78f47</anchor>
      <arglist>(const HQPData &amp;data, bool printMatrices=false)</arglist>
    </member>
    <member kind="function">
      <type>aligned_pair&lt; T1, T2 &gt;</type>
      <name>make_pair</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>acdc4d493f78ace08fccd5d70ba892f57</anchor>
      <arglist>(const T1 &amp;t1, const T2 &amp;t2)</arglist>
    </member>
    <member kind="variable">
      <type>class TSID_DLLAPI</type>
      <name>SolverHQPBase</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a50c1d888f9fe8e56de8aba2abc5d4f15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>class TSID_DLLAPI</type>
      <name>SolverHQuadProgRT</name>
      <anchorfile>namespacetsid_1_1solvers.html</anchorfile>
      <anchor>a308a11789ce224c0f36356de714b9f8e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid::tasks</name>
    <filename>namespacetsid_1_1tasks.html</filename>
    <class kind="class">tsid::tasks::TaskActuation</class>
    <class kind="class">tsid::tasks::TaskActuationBounds</class>
    <class kind="class">tsid::tasks::TaskActuationEquality</class>
    <class kind="class">tsid::tasks::TaskAMEquality</class>
    <class kind="class">tsid::tasks::TaskBase</class>
    <class kind="class">tsid::tasks::TaskCapturePointInequality</class>
    <class kind="class">tsid::tasks::TaskComEquality</class>
    <class kind="class">tsid::tasks::TaskContactForce</class>
    <class kind="class">tsid::tasks::TaskContactForceEquality</class>
    <class kind="class">tsid::tasks::TaskCopEquality</class>
    <class kind="class">tsid::tasks::TaskJointBounds</class>
    <class kind="class">tsid::tasks::TaskJointPosture</class>
    <class kind="class">tsid::tasks::TaskJointPosVelAccBounds</class>
    <class kind="class">tsid::tasks::TaskMotion</class>
    <class kind="class">tsid::tasks::TaskSE3Equality</class>
    <member kind="typedef">
      <type>trajectories::TrajectorySample</type>
      <name>TrajectorySample</name>
      <anchorfile>namespacetsid_1_1tasks.html</anchorfile>
      <anchor>ad0faaec488fbc0de0147523ded4e9c3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>math::Vector</type>
      <name>Vector</name>
      <anchorfile>namespacetsid_1_1tasks.html</anchorfile>
      <anchor>ae78641933ca3d3059f7caab7cfe7cd8c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid::trajectories</name>
    <filename>namespacetsid_1_1trajectories.html</filename>
    <class kind="class">tsid::trajectories::TrajectoryBase</class>
    <class kind="class">tsid::trajectories::TrajectoryEuclidianConstant</class>
    <class kind="class">tsid::trajectories::TrajectorySample</class>
    <class kind="class">tsid::trajectories::TrajectorySE3Constant</class>
    <member kind="typedef">
      <type>Eigen::Map&lt; const Eigen::Matrix&lt; double, 3, 3 &gt; &gt;</type>
      <name>MapMatrix3</name>
      <anchorfile>namespacetsid_1_1trajectories.html</anchorfile>
      <anchor>ada031368faef270e3ad20f9afc71e515</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tsid_biped</name>
    <filename>namespacetsid__biped.html</filename>
    <class kind="class">tsid_biped::TsidBiped</class>
  </compound>
  <compound kind="namespace">
    <name>tsid_manipulator</name>
    <filename>namespacetsid__manipulator.html</filename>
    <class kind="class">tsid_manipulator::TsidManipulator</class>
  </compound>
  <compound kind="namespace">
    <name>ur5_conf</name>
    <filename>namespaceur5__conf.html</filename>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a5df5d9745260b83e05b7adb0bd9b3159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>acf0f1704faa8ef5cd445d6483dda4a73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>afa4c542a320407c403de3f8a9268a0f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a62f6083733abda57c91bc6892f327f64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ee_frame_name</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a7f1ef8384966bf802223ab7425bc9484</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a039f41833955596a30fb255d7e84d572</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a56cd93d000ff4165a826096a110ae67f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>ee_task_local_frame</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>acc8eb9d13ba17569a1614cb7e95d59fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_task_mask</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a886666c3323fff0b6b3a0bcbd0bd98f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_ee</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a94680015b525614396ad7f006af968fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a5dc404e9f505f815aa8d76781fa414dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a72227f0e82ccf6a639ca69d1ac042a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ab9f9690615bb78b7004d49699deb7894</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a9b36356274f66ae1d4318ccaab06669b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>aba330765e639c17d1e7c2e7d563b65e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a4fb02dff9415b474b6e8330ab0c3fedb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a0ad9216ed996165d4b44d82ca7455bbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a4a7a2807177da0c27526118cfc1e4d6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a743afef1a925eeec94002515e33ac648</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>af92375caf3b5fc53dcc67de71378fb4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a73ca508dd1f5973704157a628be25ac5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a3971d5ed3240f2ae0248522ef2e70f27</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ad72fc2e21fd17daea3d41782704ae82b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ad7c2b35461d35ebc4411c05e55c90f05</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>ad11593e7aef1ff9ddef74192b3ac5665</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a758878e84f81479bea3ef97c2d1d2fda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a786c048da487fa43f79e831814ee319f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_ee</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a377ac05dc8cc57a85e4e907c53721351</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>af74df4f750789c23e47edc98d8712bdf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>abd316d437e98d0e0175cbec0e9801054</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceur5__conf.html</anchorfile>
      <anchor>a895bd780c1a4f67c71c55018e881f02a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ur5_reaching_conf</name>
    <filename>namespaceur5__reaching__conf.html</filename>
    <member kind="variable">
      <type></type>
      <name>amp</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ac8fd3d8f19037af5eb654ba52b9aa2f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>CAMERA_TRANSFORM</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>adc9b5a33d98991921609e7e8ccf4cc1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>DISPLAY_N</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a5a111164550c5201f4c742b42fa78ac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>dt</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>acc1b59b2956864765c9a7921eb3ac026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>ee_frame_name</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a3fcc97e1a5e43e05e649d214d60d6806</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_REF_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>afbc153d15dfc2fa04bf68490f839533d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>EE_SPHERE_COLOR</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a1be773b6007a407a73595073cffe198c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>ee_task_local_frame</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a737cdb03da315dbdf3d8ff8785486d6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ee_task_mask</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a1bf96da9e099f90011e592fd82d0bb24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_ee</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a380e5ba36739134fb44ae125e6eb5e5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>kp_posture</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>aaca70d583e28bc369a5ed1b7f3be82a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>LINE_WIDTH</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a54448e034e8a1bfa0a1e994b2af6ffd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linewidth</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ad43a3004ea2695610f4c2ae7b183bf9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_SIMULATION</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>acb4c3eae37dd1433c09432fc147c38a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>offset</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a5c779e9556aa06e41f8bf915bda88608</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a1e0ad2e4c64653282c91d8765a7ef3ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>phi</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a61fa00805d50d072c12aceab76d4baf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>precision</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a4362ec7bf0e7672cf86b0459040aa7a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>PRINT_N</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a5ea868ec84f345b2341dcafde537e962</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q0</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a838945ef06bf1aea837e4398f4a704bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>REF_SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a625317feb581d222a22f6974bf1c2aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>SPHERE_RADIUS</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>afb34a27c6aabe6f1c300ed069a20a895</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>suppress</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a538341a0089108a0405c262386f92508</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>tau_max_scaling</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a53d8e8f0b8ac056d1ae25bcb3e651058</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>two_pi_f</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a9a55f6227221c209021c961d104f50c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>urdf</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a162a3be6463e2ff2e5897afe04e4249d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>v_max_scaling</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ac1fd625de7154a54bbd5836eb4c86e9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_ee</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>afadca5c1fa7e5aa45e5eefe157ffaa21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_joint_bounds</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a0bde14cc565720b8457483215ae923ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>w_posture</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>ac276c9ba674540b3202c2a0ed7e9e496</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_torque_bounds</name>
      <anchorfile>namespaceur5__reaching__conf.html</anchorfile>
      <anchor>a3198085c8714ec045538db0d374ad522</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>vizutils</name>
    <filename>namespacevizutils.html</filename>
    <member kind="function">
      <type>def</type>
      <name>addViewerBox</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>ad02546d5fa5a3e38be70dde8fb190fc8</anchor>
      <arglist>(viz, name, sizex, sizey, sizez, rgba)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>addViewerSphere</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>a7b41048853e9d4696d267401d92e7c6b</anchor>
      <arglist>(viz, name, size, rgba)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>applyViewerConfiguration</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>ade462fd0012945ba91bd4daf01eab071</anchor>
      <arglist>(viz, name, xyzquat)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>meshcat_material</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>a49dc33bc89d7e06430afd06fb73ae5f0</anchor>
      <arglist>(r, g, b, a)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>meshcat_transform</name>
      <anchorfile>namespacevizutils.html</anchorfile>
      <anchor>a7626a890ba29414829da98b78c67df2e</anchor>
      <arglist>(x, y, z, q, u, a, t)</arglist>
    </member>
  </compound>
</tagfile>
