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      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>aaebf47af7099aad5f074607aef27df32</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::TransformStamped</type>
      <name>odom_trans</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>ad8ed7ed0978af076a36078c5c3370bb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pose_pub</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a067518e46cc4c6aa30fabc781a7a621a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::PoseStamped</type>
      <name>position</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a739d9be463527cde0461575dea00e3f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>q</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a7e17d8036d7dabe291135565f069de82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpRobotViper850 *</type>
      <name>robot</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a6ec1f1b5edbd5b967af41a7675226909</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>serial_port</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a96f05312f612fc05b473dc1ca4f4a721</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>setControlMode</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a397b7596fb4ee1a688f9db39298ccb9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>tf_prefix</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a647577cc2c975976c84f6033ab51b1eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>vel_pub</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a54f8a8a338e7048124841479fc7a46c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>veltime</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a9acea37fa53491413321350961089dfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpHomogeneousMatrix</type>
      <name>wMc</name>
      <anchorfile>classRosViper850Node.html</anchorfile>
      <anchor>a377192e717d26a6c2c044397052b1ef3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>vpRobotFrankaSim</name>
    <filename>classvpRobotFrankaSim.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>add_tool</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a48f3510f35c986c9c4a6f45e54680dcd</anchor>
      <arglist>(const vpHomogeneousMatrix &amp;flMe, const double mL, const vpHomogeneousMatrix &amp;flMcom, const vpMatrix &amp;I_L)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>get_eJe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a234e772df0a9132238dcc1f69d9b6546</anchor>
      <arglist>(vpMatrix &amp;eJe_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>get_eJe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a124c6a13f4dc54e935e809b00ffe8abc</anchor>
      <arglist>(const vpColVector &amp;q, vpMatrix &amp;fJe)</arglist>
    </member>
    <member kind="function">
      <type>vpHomogeneousMatrix</type>
      <name>get_eMc</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ae70f647287dee8c4304a440cf76a7782</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>get_fJe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>aeda5687583d2619cb9fed19b670e7eb2</anchor>
      <arglist>(vpMatrix &amp;fJe)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>get_fJe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a6524d600f626e01faa424ee6fa0dd31c</anchor>
      <arglist>(const vpColVector &amp;q, vpMatrix &amp;fJe)</arglist>
    </member>
    <member kind="function">
      <type>vpHomogeneousMatrix</type>
      <name>get_flMcom</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ac11cdae0841ea275cffff00acbc61dca</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>vpHomogeneousMatrix</type>
      <name>get_flMe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>aafaf9e7faf915e26387faf117cbd611c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>vpHomogeneousMatrix</type>
      <name>get_fMe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a1f08493383fbe6f7598942a10c05e574</anchor>
      <arglist>(const vpColVector &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>vpHomogeneousMatrix</type>
      <name>get_fMe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>af398b658c46976905c82e0bedb2b66d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>get_tool_mass</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a347ce5b151bea8e90b8e3e9265aa969a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCoriolis</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a7e19a7880cdbd2ba272e8b93578c641a</anchor>
      <arglist>(vpColVector &amp;coriolis)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCoriolisMatrix</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a39d2e5e776422cf84a2d8595817cacbc</anchor>
      <arglist>(vpMatrix &amp;coriolis)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getForceTorque</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a229ffea13511a17167f7b30c8e3d8277</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, vpColVector &amp;force)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFriction</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a024a787735906f75145eb66df52d38c5</anchor>
      <arglist>(vpColVector &amp;friction)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getGravity</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a0607531b34493e5c855b242f6e0eb662</anchor>
      <arglist>(vpColVector &amp;gravity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getMass</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ad5d6cd5690a82d703f71274beab5b42c</anchor>
      <arglist>(vpMatrix &amp;mass)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getPosition</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a48afb087f7daea80f2b7ea079fcdc78c</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, vpColVector &amp;position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getPosition</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a7208243cd937db63a7b2cc269d4c05f1</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, vpPoseVector &amp;position)</arglist>
    </member>
    <member kind="function">
      <type>vpRobot::vpRobotStateType</type>
      <name>getRobotState</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a43f73cf85c4abbc5ae60516a63295fee</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getVelocity</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>adaad7d9db6c043f880baf728e956f85d</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, vpColVector &amp;d_position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>set_eMc</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ae3309fa6ba741bee4afb47c87641ec79</anchor>
      <arglist>(const vpHomogeneousMatrix &amp;eMc)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>set_flMe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ae815c90d0e3ee1f303f5b06d98df8b23</anchor>
      <arglist>(const vpHomogeneousMatrix &amp;flMe)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>set_g0</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a83128d3ef4ba56b43a76378111bcb4ad</anchor>
      <arglist>(const vpColVector &amp;g0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setForceTorque</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a2ea9d5574f350e2c67b7f48a310856e6</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, const vpColVector &amp;force)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPosition</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a5ca22683f62567427b71374bd56f700d</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, const vpColVector &amp;position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setVelocity</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a1834472c96feb21a85a6acf37373a1dd</anchor>
      <arglist>(const vpRobot::vpControlFrameType frame, const vpColVector &amp;vel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVerbose</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a18dee24ba43b3fb0ac7097aef9c8af1c</anchor>
      <arglist>(bool verbose)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>vpRobotFrankaSim</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a8480f19cd2cb08612979559745474e82</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~vpRobotFrankaSim</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>aeed39d0f30879c8158ca551d701f4a86</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>vpColVector</type>
      <name>getVelDes</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>af6600864ffdbb61d6cf17db0a7d605d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>vpColVector</type>
      <name>solveIK</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ade0d68336bde2bb3fecc44459709d8bc</anchor>
      <arglist>(const vpHomogeneousMatrix &amp;edMw)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_camMounted</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a15cfd0d4684ecd7123ba7057d9a4992f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::Chain</type>
      <name>m_chain_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a7856945d72bc96293e58e01408f77478</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::ChainIkSolverVel_pinv *</type>
      <name>m_diffIkSolver_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a99bf9acc4063a8494e67a799d751dfa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_dq</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ae3935b613f436f80bfe398d672f6d3c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_dq_des</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>af13b411abe98d64877f712d521e485c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_dq_des_filt</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ac712bc9772122ce517e8cb7b7bacbd83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::JntArray</type>
      <name>m_dq_des_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a5544b21373a4026d5e6c744908e53bb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpHomogeneousMatrix</type>
      <name>m_eMc</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ae5fad0feceb648e41ecb51e981603ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpVelocityTwistMatrix</type>
      <name>m_eVc</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ac5c749e8bf0fbf6a6f4ed22e3c346d50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::ChainFkSolverPos_recursive *</type>
      <name>m_fksolver_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ad3b2ec142c716788718bd03d54483983</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpHomogeneousMatrix</type>
      <name>m_flMcom</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a33b614775bfbc68b79cf1bde0427d8f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpHomogeneousMatrix</type>
      <name>m_flMe</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a5f72aa30ab33c44b17af7bd816dad16e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_g0</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a6ad6c350eef3af1dc23a91a7523e7df1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::ChainIkSolverPos_NR_JL *</type>
      <name>m_iksolver_JL_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ac74eacac0e4251774b9863579af81f67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpMatrix</type>
      <name>m_Il</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a2ea7a7abab7f68b3e579e65889bfbd5d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::ChainJntToJacSolver *</type>
      <name>m_jacobianSolver_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ac7c9c0d75b15634a281c1281f399facc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_mL</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ab6fad02e9fd736c30ecf27ec43a5d594</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::mutex</type>
      <name>m_mutex</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ac7bd0325b6a5490150c7cf34279247d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_q</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a5d06a48f70b1ed7a2a848a4e0b3232a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_q_des</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a66bbb37f0eec659667dcdafa3ac64ece</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::JntArray</type>
      <name>m_q_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a943055e615c40ed36bf40b4fe782eb1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::JntArray</type>
      <name>m_q_max_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a0536a324b2ff3aa06697d458f8cdc546</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::JntArray</type>
      <name>m_q_min_kdl</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a6ce7b454f49541cb1e70b8f9d81869f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpRobot::vpRobotStateType</type>
      <name>m_stateRobot</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a5d719997ed5fa00b4c6146b113c98688</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_tau_J</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>ab62a811f957821cb902a0e36631a116f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_tau_J_des</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a2913b7ca37fdd73d0fd4ca76e06330cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_tau_J_des_filt</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a54cb95c5bfecaa86ba045a1173db7f7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_toolMounted</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a3ff9d6af3341102f103aecf11c8e2cb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vpColVector</type>
      <name>m_v_cart_des</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>afe401889db687c2e7227a14832c73a1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_verbose</name>
      <anchorfile>classvpRobotFrankaSim.html</anchorfile>
      <anchor>a698023c92ade442e99e129c9bd6e5c23</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>vpROSGrabber</name>
    <filename>classvpROSGrabber.html</filename>
    <member kind="function">
      <type>void</type>
      <name>acquire</name>
      <anchorfile>classvpROSGrabber.html</anchorfile>
      <anchor>a4f898dafc869fddb5be13a9931f47d17</anchor>
      <arglist>(vpImage&lt; unsigned char &gt; &amp;I)</arglist>
    </member>
    <member kind="function">
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