<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>iob.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-groovy-rtm-ros-robotics__rtmros_common/doc_stacks/2013-07-23_11-44-14.910425/rtm-ros-robotics/rtmros_common/hrpsys_gazebo_general/iob/</path>
    <filename>iob_8cpp</filename>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_ACCELEROMETER_ID</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ae64daac72729edca962ed27b5351d41d</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_ATTITUDE_SENSOR_ID</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aefa2b949e0e594b3f16f729ad464d166</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_FORCE_SENSOR_ID</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aa49d2a1abb61ee21346e5522e452e8f6</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_GYRO_SENSOR_ID</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a11cd89b9c71e3e7af5c00373a459b5f0</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>CHECK_JOINT_ID</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aa2ecd57bab58f64dc39a256f2fc181e1</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>JOINT_ID_MODEL2REAL</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a1b05b309323f7f41004aba3d9b77857d</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>JOINT_ID_REAL2MODEL</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a76b52b5c805557c3d02b32b136708cba</anchor>
      <arglist>(id)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>NUM_OF_REAL_JOINT</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac00379ba21b72f7d8071338225a9b091</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>hrpsys_gazebo_msgs::JointCommand</type>
      <name>JointCommand</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>accd748ad58e759d97e8b3317691b9023</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>hrpsys_gazebo_msgs::RobotState</type>
      <name>RobotState</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aadfe8fb0cfff19843e7409341da4cff0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>close_iob</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a50f39818022c14b4d47820551391da7b</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>long</type>
      <name>get_signal_period</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a4f62ca5c314c89ef22895e2f934d8000</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>initializeJointAngle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ab9bfbedb97db03bdc961d1c5aec7b3f8</anchor>
      <arglist>(const char *name, const char *option)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>joint_calibration</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ade2cd6acbc6062accf306f980aa9d9ab</anchor>
      <arglist>(int id, double angle)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static int</type>
      <name>joint_id_model2real</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a7dabcc31445370d6bc99eb0fb838c046</anchor>
      <arglist>(int id)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>length_digital_input</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>abf8cfde4e5897a3737c0fa0f7a2f622b</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>length_digital_output</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a761990e62b6db00593f111c42c9184bb</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>length_of_extra_servo_state</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a19c717992817388d82a1030600790769</anchor>
      <arglist>(int id)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>lock_iob</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a7b9b17855b9531557e760d8b760e2a59</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>number_of_accelerometers</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ab3d00bc4909a56d28d5ef1c0899068c0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>number_of_attitude_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a404159afbf24d2ceff7bac0040b9967e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>number_of_force_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>af807763b8efbc6f255ddb14819d97b6e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>number_of_gyro_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac8645d0730e5ce1a701769d0b167ee0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>number_of_joints</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ae95f85522cf1853f21ed7f296f983059</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>number_of_substeps</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac21a859556513e56cc6bc31e128d542a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>open_iob</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aacacd2362dcf97e7c3b7ff412cfc1786</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_accelerometer</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a0af71deeeb367a98371afeba2d50f46e</anchor>
      <arglist>(int id, double *accels)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_accelerometer_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a72b3956a3392429d400f06e474c07820</anchor>
      <arglist>(int id, double *offset)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_actual_angle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a4484ad6aca053dc34d521fcf92aa7e20</anchor>
      <arglist>(int id, double *angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_actual_angles</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a0213f9f038a720e572d87a5c20e4e62b</anchor>
      <arglist>(double *angles)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_actual_torques</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a781eba8e3496c57dafb53952f5e94d68</anchor>
      <arglist>(double *torques)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_angle_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aed72960f45fa71681724d4b088d35c33</anchor>
      <arglist>(int id, double *angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_attitude_sensor</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a6dcd7d1e10307176fedd6d764af5090b</anchor>
      <arglist>(int id, double *att)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_calib_state</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a501bad210eaa13a1e46c045035778ccb</anchor>
      <arglist>(int id, int *s)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_command_angle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>abfc7bfcbbfe5d0957c626316978e7755</anchor>
      <arglist>(int id, double *angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_command_angles</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a56a8e7b796ad9d47e26362820ce81b3e</anchor>
      <arglist>(double *angles)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_command_torque</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad819a1122ab42fa5b5696b28df776bb2</anchor>
      <arglist>(int id, double *torque)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_command_torques</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a48eb21f65b7efffa0a9f5ba31b7eeb99</anchor>
      <arglist>(double *torques)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_command_velocities</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac963f7293abbcaf89554344205d51838</anchor>
      <arglist>(double *vels)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_command_velocity</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a94a4e6b642a8bfe5ffe3f2bb4c7cbb8d</anchor>
      <arglist>(int id, double *vel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_control_mode</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a94c5f71266a13fb427f2958155f6b01a</anchor>
      <arglist>(int id, joint_control_mode *s)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_current</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a344f81957ce99d573a8deef60774be11</anchor>
      <arglist>(int id, double *mcurrent)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_current_limit</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aed955c1b55c5be28070e6a7c00591f15</anchor>
      <arglist>(int id, double *v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_currents</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a4e150e47d872bc00f7e9db75471665cb</anchor>
      <arglist>(double *currents)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_dgain</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aae2a11975c74d2a3d8ea9be6f9883818</anchor>
      <arglist>(int id, double *gain)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_digital_input</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a2f281cdc3fae56f2398b0a8d636fb675</anchor>
      <arglist>(char *dinput)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_driver_temperature</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a27d94a48b68d54f0ae20b1d8a8a7cbac</anchor>
      <arglist>(int id, unsigned char *v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_encoder_pulse</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad18d1a8d578cc1f9e3f58179a877a8a9</anchor>
      <arglist>(int id, double *ec)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_extra_servo_state</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad16d392f38086b66f1ed73df38e92013</anchor>
      <arglist>(int id, int *state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_force_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a9d18b241a6450f49e567b87f0fa2ee98</anchor>
      <arglist>(int id, double *offsets)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_force_sensor</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>add3790f05c939c0d765f3cd95378ca68</anchor>
      <arglist>(int id, double *forces)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_gauges</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a0b387b591af3fafbe571b48f2f9216f0</anchor>
      <arglist>(double *gauges)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_gear_ratio</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a24e3e3e37ad51d5dfef848a23382f8c4</anchor>
      <arglist>(int id, double *gr)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_gyro_sensor</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aba69dbd63b69a21b18eaec82b6e171d7</anchor>
      <arglist>(int id, double *rates)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_gyro_sensor_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a020df76cc87cab63ef259d9f9968b8f5</anchor>
      <arglist>(int id, double *offset)</arglist>
    </member>
    <member kind="function">
      <type>unsigned long long</type>
      <name>read_iob_frame</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac380b007a0887722ea223ac519b760f5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_limit_angle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a5bd7b3807b033419068e050d53954c41</anchor>
      <arglist>(int id, double *angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_llimit_angle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a2ab4c32ce84fc496b3ef013552875af2</anchor>
      <arglist>(int id, double *angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_lock_owner</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a79085f5cb565118315b6487de01996b8</anchor>
      <arglist>(pid_t *pid)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_pgain</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad26259527df1cd703de6595039b5ddce</anchor>
      <arglist>(int id, double *gain)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_power</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a5748b13cf6f2434a66e5f0d3eb751468</anchor>
      <arglist>(double *voltage, double *current)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_power_command</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a4961f26f7f67b40c43c3c898be6b1c9a</anchor>
      <arglist>(int id, int *com)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_power_state</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>af7033a4dfc7570ead5f206763802e8d3</anchor>
      <arglist>(int id, int *s)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_servo_alarm</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a53edbad16c04195ccc9b8586a3181643</anchor>
      <arglist>(int id, int *a)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_servo_state</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a33857b4f229aa495294d0a78d456ff75</anchor>
      <arglist>(int id, int *s)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_temperature</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>add8cc7eecf598a2b95959bc962fe974a</anchor>
      <arglist>(int id, double *v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_torque_const</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a15d374bc54c9babbe955623d04cb2b5a</anchor>
      <arglist>(int id, double *tc)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_torque_limit</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a4fbd63922dd194f04742ce52f96503b4</anchor>
      <arglist>(int id, double *limit)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_touch_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a591aa76c34b896cad6ebc747c75e4fcb</anchor>
      <arglist>(unsigned short *onoff)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>read_ulimit_angle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aca924384b8b763b8fba73bc80d2d0ed3</anchor>
      <arglist>(int id, double *angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>reset_body</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a9c1e5623bc31efa1aad980f8a97f00a5</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>set_number_of_accelerometers</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac1d4dfd7c160e3770bd809a7ad91195b</anchor>
      <arglist>(int num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>set_number_of_attitude_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a627858cee4e5b7b22b40cb7de8ce87b1</anchor>
      <arglist>(int num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>set_number_of_force_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a703a70407f67ae22c7daae1a6c69abcd</anchor>
      <arglist>(int num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>set_number_of_gyro_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a1cebc3bcb46094629a7650401ecfe820</anchor>
      <arglist>(int num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>set_number_of_joints</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>adb5ab1fc43a56024a0b12d44233ffb14</anchor>
      <arglist>(int num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>set_signal_period</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a5357e9f2e2e364b0ddc97ea9527d319c</anchor>
      <arglist>(long period_ns)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>setJointStates</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a5dcea03d1940f27471498c0507756bb6</anchor>
      <arglist>(const RobotState::ConstPtr &amp;_js)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>timespec_add_ns</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a296341b86cc0e779e50d1f87027ac93a</anchor>
      <arglist>(timespec *ts, long ns)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>timespec_compare</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a1ff560a9e93c03976ad1c0487941ded3</anchor>
      <arglist>(timespec *ts1, timespec *ts2)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>unlock_iob</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac56dca3e6d37a2a12cac4ce31b663f3d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>wait_for_iob_signal</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a4939d4ea66684292faec1fb550806d99</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_accelerometer_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a8d4ef6beedbd6f187a74a764d8a8c625</anchor>
      <arglist>(int id, double *offset)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_angle_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aee2330216413eece5af24ab7ac3bc390</anchor>
      <arglist>(int id, double angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_attitude_sensor_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac0be7df9c9e8ceace4d242a7b444ca3d</anchor>
      <arglist>(int id, double *offset)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_command_angle</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>acc18b1bd2927f87b0721c3125c0cb311</anchor>
      <arglist>(int id, double angle)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_command_angles</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a363efbbfd7f12f3ca2586f12c760d6b9</anchor>
      <arglist>(const double *angles)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_command_torque</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a27b6ea50b5a39e5b30d6b710e76e2262</anchor>
      <arglist>(int id, double torque)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_command_velocities</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a7a132af58f6d93c94b2e9bfce520afa1</anchor>
      <arglist>(double *vels)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_command_velocity</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a8bf7ae6afca245f80eedfdd1d3c41c74</anchor>
      <arglist>(int id, double vel)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_control_mode</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>af1d6facb05bfd73457ed9728eb260e07</anchor>
      <arglist>(int id, joint_control_mode s)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_dgain</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a3399bd1d69234fa6114d4628a31fccb2</anchor>
      <arglist>(int id, double gain)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_digital_output</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad9a270fc3353840f5176d6145f023b4f</anchor>
      <arglist>(const char *doutput)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_dio</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a33a86e16c500ba7aad29f686847e4130</anchor>
      <arglist>(unsigned short buf)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_force_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a1dd5f5fa099b780233ec73786886f4a3</anchor>
      <arglist>(int id, double *offsets)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_gyro_sensor_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a9bf535fb534d9b0e53ad822486201d80</anchor>
      <arglist>(int id, double *offset)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_pgain</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aab3cd829e50f16a84788c711b6c9b74e</anchor>
      <arglist>(int id, double gain)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_power_command</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a2ae94b86b93755dc1607b681604021f7</anchor>
      <arglist>(int id, int com)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>write_servo</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a33920389d93c574ac7da3c89b84627cb</anchor>
      <arglist>(int id, int com)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>accel_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>afdd8e9abf16fea7d9ac0de819c046302</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>accelerometers</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a2238036a0647ad64c1f6195c69133981</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>attitude_sensors</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a26f46bfc8f1e1c29e45de839956fcad0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; double &gt;</type>
      <name>command</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a187ac43bc6e4269229ca78a9022c22e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>force_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a0137a26ee6ff2643e66401aa1e9ec5f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>forces</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a9b3dca429c2ae8a8a3ceb519b88de875</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>frame</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad30f972f2e6e3e5ecab0dee38ae6cdb8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static long</type>
      <name>g_period_ns</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a93bc480cbb22d5c4702975bbdc9d4005</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static timespec</type>
      <name>g_ts</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ac5193abeeee4672403338581e27dd911</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>gyro_offset</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aeb48899b0b81f160aafcb19bb0a179f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>gyros</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a7eb072122cf31a52bb735554cdeb517e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>init_sub_flag</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a06fddb0a5c8d19310b0ff113c0401655</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static JointCommand</type>
      <name>initial_jointcommand</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>ad7be0e4225002d55a43e5c8c919e3058</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static bool</type>
      <name>isLocked</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a0774f698e7c923fe33adcfe95cdf9e73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::map&lt; int, int &gt;</type>
      <name>joint_model2real_map</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a460105ee01c396f7c73d72cec820e7c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; int &gt;</type>
      <name>joint_real2model_vec</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a45095a75cce8cde5396e9261050842e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static JointCommand</type>
      <name>jointcommand</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a67351219e8cfdb4b87b6eccd46ef7c5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static RobotState</type>
      <name>js</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>abfcfceee75796a6f73ceb8963657a61c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; int &gt;</type>
      <name>power</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a7c6c00ff37fd1d091489b45f7ffb6c9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; double &gt;</type>
      <name>prev_command</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a119e04ed53c5dc435ee3f98b1aebaa76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static ros::Publisher</type>
      <name>pub_joint_command</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>aefec2183c0e7bf0574d8b6bf38a5ecb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static ros::Time</type>
      <name>rg_ts</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a1515e9a64fa2689db38a985514dad5fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static ros::NodeHandle *</type>
      <name>rosnode</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a220a2a87c25fbdf6f3546074a368c464</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static std::vector&lt; int &gt;</type>
      <name>servo</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a8dc25c6b9af4eafbe0194b14275f4256</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static ros::Subscriber</type>
      <name>sub_robot_state</name>
      <anchorfile>iob_8cpp.html</anchorfile>
      <anchor>a86ef8932b324faff0fd26efa2449da1c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>IOBPlugin.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-groovy-rtm-ros-robotics__rtmros_common/doc_stacks/2013-07-23_11-44-14.910425/rtm-ros-robotics/rtmros_common/hrpsys_gazebo_general/src/</path>
    <filename>IOBPlugin_8cpp</filename>
    <includes id="IOBPlugin_8h" name="IOBPlugin.h" local="yes" imported="no">IOBPlugin.h</includes>
    <namespace>gazebo</namespace>
    <member kind="function">
      <type></type>
      <name>GZ_REGISTER_MODEL_PLUGIN</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>a84fc157c3d93b7c3456634ffb52ab15d</anchor>
      <arglist>(IOBPlugin)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>IOBPlugin.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-groovy-rtm-ros-robotics__rtmros_common/doc_stacks/2013-07-23_11-44-14.910425/rtm-ros-robotics/rtmros_common/hrpsys_gazebo_general/src/</path>
    <filename>IOBPlugin_8h</filename>
    <includes id="PubQueue_8h" name="PubQueue.h" local="yes" imported="no">PubQueue.h</includes>
    <class kind="class">gazebo::IOBPlugin::ErrorTerms</class>
    <class kind="struct">gazebo::IOBPlugin::force_sensor_info</class>
    <class kind="struct">gazebo::IOBPlugin::imu_sensor_info</class>
    <class kind="class">gazebo::IOBPlugin</class>
    <namespace>gazebo</namespace>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; sensors::ImuSensor &gt;</type>
      <name>ImuSensorPtr</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>af4d2e0c3b7d94b97b8c0e228b3b363d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>hrpsys_gazebo_msgs::JointCommand</type>
      <name>JointCommand</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>af8a6f9ba2b6d73867a26142a5a87790d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>hrpsys_gazebo_msgs::RobotState</type>
      <name>RobotState</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>a83119c64b51602bce55cac7432802e5f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>PubQueue.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-groovy-rtm-ros-robotics__rtmros_common/doc_stacks/2013-07-23_11-44-14.910425/rtm-ros-robotics/rtmros_common/hrpsys_gazebo_general/src/</path>
    <filename>PubQueue_8h</filename>
    <class kind="class">PubMessagePair</class>
    <class kind="class">PubMultiQueue</class>
    <class kind="class">PubQueue</class>
  </compound>
  <compound kind="class">
    <name>PubMessagePair</name>
    <filename>classPubMessagePair.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>PubMessagePair</name>
      <anchorfile>classPubMessagePair.html</anchorfile>
      <anchor>a1d4ccd3b0edd32269fd856d707c40baa</anchor>
      <arglist>(T &amp;msg, ros::Publisher &amp;pub)</arglist>
    </member>
    <member kind="variable">
      <type>T</type>
      <name>msg_</name>
      <anchorfile>classPubMessagePair.html</anchorfile>
      <anchor>a58bc6a4174fc51b2d19ea5043dd67d04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ros::Publisher</type>
      <name>pub_</name>
      <anchorfile>classPubMessagePair.html</anchorfile>
      <anchor>af820bd947ce8d83015ca1d18bced7df1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>PubMultiQueue</name>
    <filename>classPubMultiQueue.html</filename>
    <member kind="function">
      <type>boost::shared_ptr&lt; PubQueue&lt; T &gt; &gt;</type>
      <name>addPub</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a186fa385a68bea92b37d063fbff8b2ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>notifyServiceThread</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a36cf42aaea8a405031e5fc74d66d2323</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PubMultiQueue</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>abb6020362c7f7a2b090d9be62df4beb6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>spin</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a12f0d4eb208a3788a23ad42f001da401</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>spinOnce</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a8e55bb1f12cd89327c3d239982ae43c5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>startServiceThread</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>aa42f2025f3899a0bacc6a239262b6168</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~PubMultiQueue</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a36b6f4b5a06e71af9a326accb2cfa02b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>serviceFunc</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>ab762518b702d0724daf6d4c9fe0a8c1a</anchor>
      <arglist>(boost::shared_ptr&lt; PubQueue&lt; T &gt; &gt; pq)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::condition_variable</type>
      <name>service_cond_var_</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>ab9772c4c8f145c6cc0c79630ef238679</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>service_cond_var_lock_</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a474bdcea4c7cc3533df104940e2b71be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::list&lt; boost::function&lt; void()&gt; &gt;</type>
      <name>service_funcs_</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a2e8f6d446827d343ff49bd661b5f7e77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>service_funcs_lock_</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>a6535a008b6ce618f3686378694ff1112</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::thread</type>
      <name>service_thread_</name>
      <anchorfile>classPubMultiQueue.html</anchorfile>
      <anchor>aae724998b2686fab3a936703c32eee17</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>PubQueue</name>
    <filename>classPubQueue.html</filename>
    <templarg>T</templarg>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; PubQueue&lt; T &gt; &gt;</type>
      <name>Ptr</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>a723a6ca130f5eb99ae4c67a9cbdeeeb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; std::deque&lt; boost::shared_ptr&lt; PubMessagePair&lt; T &gt; &gt; &gt; &gt;</type>
      <name>QueuePtr</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>a85e7daf434f5f62623e47bc8b765ede1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pop</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>aad0a275d463b3931881d9efd2606eec3</anchor>
      <arglist>(std::vector&lt; boost::shared_ptr&lt; PubMessagePair&lt; T &gt; &gt; &gt; &amp;els)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PubQueue</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>a094073f453986c87a571a69289d81ef4</anchor>
      <arglist>(QueuePtr queue, boost::shared_ptr&lt; boost::mutex &gt; queue_lock, boost::function&lt; void()&gt; notify_func)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>push</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>ac6e5b853ac69fbb504275d79e238ae7a</anchor>
      <arglist>(T &amp;msg, ros::Publisher &amp;pub)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~PubQueue</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>aa64289bb7f069c71236152665ab0c238</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::function&lt; void()&gt;</type>
      <name>notify_func_</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>a203c0a221d5186f9f15209aed5294289</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>QueuePtr</type>
      <name>queue_</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>ae7671a95801e07013bf328240ecfb366</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::shared_ptr&lt; boost::mutex &gt;</type>
      <name>queue_lock_</name>
      <anchorfile>classPubQueue.html</anchorfile>
      <anchor>a66205aae8c8f8f71cb4ab6d91276e9ba</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>gazebo</name>
    <filename>namespacegazebo.html</filename>
    <class kind="class">gazebo::IOBPlugin</class>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; sensors::ImuSensor &gt;</type>
      <name>ImuSensorPtr</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>af4d2e0c3b7d94b97b8c0e228b3b363d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>hrpsys_gazebo_msgs::JointCommand</type>
      <name>JointCommand</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>af8a6f9ba2b6d73867a26142a5a87790d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>hrpsys_gazebo_msgs::RobotState</type>
      <name>RobotState</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>a83119c64b51602bce55cac7432802e5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GZ_REGISTER_MODEL_PLUGIN</name>
      <anchorfile>namespacegazebo.html</anchorfile>
      <anchor>a84fc157c3d93b7c3456634ffb52ab15d</anchor>
      <arglist>(IOBPlugin)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>gazebo::IOBPlugin</name>
    <filename>classgazebo_1_1IOBPlugin.html</filename>
    <class kind="class">gazebo::IOBPlugin::ErrorTerms</class>
    <class kind="struct">gazebo::IOBPlugin::force_sensor_info</class>
    <class kind="struct">gazebo::IOBPlugin::imu_sensor_info</class>
    <member kind="function">
      <type></type>
      <name>IOBPlugin</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>afeb8b8c53c13550d901d1448e4faf5db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Load</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a794c93330e42d855706b67253f2df180</anchor>
      <arglist>(physics::ModelPtr _parent, sdf::ElementPtr _sdf)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~IOBPlugin</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a6b87d2f8e080f54ab97ce2d3eecbea6f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>DeferredLoad</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>aaac6191b314f3492de749363440cd123</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>GetAndPublishRobotStates</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a30006f6b3340ec8d3b2a57bb9293dd0e</anchor>
      <arglist>(const common::Time &amp;_curTime)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>GetForceTorqueSensorState</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>aba7db83d35945528f1f5e4d96a2f69f9</anchor>
      <arglist>(const common::Time &amp;_curTime)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>GetIMUState</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>afd05c8a2ab2c454d2e2372cec048f893</anchor>
      <arglist>(const common::Time &amp;_curTime)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>LoadPIDGainsFromParameter</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a9f54706a8cea0cf35ba9bb5ce01e5fb7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>RosQueueThread</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a9b78c6a51ab4e196e6525cb3dd704074</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>SetJointCommand</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a0b745f87300dae9719fb974bd349fa04</anchor>
      <arglist>(const JointCommand::ConstPtr &amp;_msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdatePIDControl</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>aa9b792e114c9d9982f7933c9533ef370</anchor>
      <arglist>(double _dt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateStates</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a708bf4e1603477525b3fc8cc54acb255</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ZeroJointCommand</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a7a05b366520081fdace04dd3045a1d96</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::thread</type>
      <name>callbackQueeuThread</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a82f1d09f6b60d00f056c0062da5b6975</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>controller_name</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a67d5d0cc912f89c0f4a546433272ee00</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::thread</type>
      <name>deferredLoadThread</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a6651cf454ef8c1d413647f3126d98ad3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>effortLimit</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a5ad1d68771ce2942be3b6455a2d17f9b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; ErrorTerms &gt;</type>
      <name>errorTerms</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>ab0b8de809da9ec809a2caef71164f035</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, struct imu_sensor_info &gt;</type>
      <name>imuSensors</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>ad5d360f01532b56be1960b5411886518</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JointCommand</type>
      <name>jointCommand</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a4132f1090aea554f76ba851e5326b48c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>jointNames</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a27c95b4a84be376b18660a50dac751b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>physics::Joint_V</type>
      <name>joints</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a51bfdf6416af85eb7b610cee99c66ae2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>common::Time</type>
      <name>lastControllerUpdateTime</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a5388714bbd6040e6302ddc32b5a189ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>physics::ModelPtr</type>
      <name>model</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a59b8da6dd439b35ed4d0b610055fb61a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>mutex</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a33d3734969bb7eca57e5d82b11f84121</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PubMultiQueue</type>
      <name>pmq</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>af244b223a81f8dfd58bb68b86d63cf02</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pubRobotState</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a0bb370cdc91e6cc964c0629505ff4a92</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PubQueue&lt; RobotState &gt;::Ptr</type>
      <name>pubRobotStateQueue</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a48c621c1efefaea1d850e6ea23b96ce2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>robot_name</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a7036dcb078e804c15e8b196bde04d2b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotState</type>
      <name>robotState</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>adf905560fd7609c5dfc92275466fd1f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle *</type>
      <name>rosNode</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a99fd895e09bb08bfa51f7dff97898308</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::CallbackQueue</type>
      <name>rosQueue</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a6ecd7768d4a14465a8660d744fbd7243</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sdf::ElementPtr</type>
      <name>sdf</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>aa85f7f49274c0c4c48b13a55544af8a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, struct force_sensor_info &gt;</type>
      <name>sensorJoints</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a6bd9f5364786dd97416e62103180f76e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>subIOBCommand</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a6c46667da4b0f9a2a27fda4c2b0e9d86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>event::ConnectionPtr</type>
      <name>updateConnection</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a5f71db1cd4b3cf57f94d2c8d3a8637b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>physics::WorldPtr</type>
      <name>world</name>
      <anchorfile>classgazebo_1_1IOBPlugin.html</anchorfile>
      <anchor>a91a810043a7514d7731c93dfd543282b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>gazebo::IOBPlugin::ErrorTerms</name>
    <filename>classgazebo_1_1IOBPlugin_1_1ErrorTerms.html</filename>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>d_q_p_dt</name>
      <anchorfile>classgazebo_1_1IOBPlugin_1_1ErrorTerms.html</anchorfile>
      <anchor>ad3f195d2d285f9f945ff1487a0bd4865</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>k_i_q_i</name>
      <anchorfile>classgazebo_1_1IOBPlugin_1_1ErrorTerms.html</anchorfile>
      <anchor>a6d06c01c3194b1f6904c264d2340197e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>q_p</name>
      <anchorfile>classgazebo_1_1IOBPlugin_1_1ErrorTerms.html</anchorfile>
      <anchor>ad7e575af6c84212b040d65fab3f04e0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>qd_p</name>
      <anchorfile>classgazebo_1_1IOBPlugin_1_1ErrorTerms.html</anchorfile>
      <anchor>af0b22179710e4baea0a49abfabfd99c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>IOBPlugin</name>
      <anchorfile>classgazebo_1_1IOBPlugin_1_1ErrorTerms.html</anchorfile>
      <anchor>a3862af66c485bff35590c09e75e39f15</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>gazebo::IOBPlugin::force_sensor_info</name>
    <filename>structgazebo_1_1IOBPlugin_1_1force__sensor__info.html</filename>
    <member kind="variable">
      <type>std::string</type>
      <name>frame_id</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1force__sensor__info.html</anchorfile>
      <anchor>ad533b3f25b1184f3b020936c54f5c7ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>physics::JointPtr</type>
      <name>joint</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1force__sensor__info.html</anchorfile>
      <anchor>a2753eeb55599e94bfb9f00712332c071</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>joint_name</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1force__sensor__info.html</anchorfile>
      <anchor>afd87d151404e3fa8b2060168048ead26</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>gazebo::IOBPlugin::imu_sensor_info</name>
    <filename>structgazebo_1_1IOBPlugin_1_1imu__sensor__info.html</filename>
    <member kind="variable">
      <type>std::string</type>
      <name>frame_id</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1imu__sensor__info.html</anchorfile>
      <anchor>a562375cd40f151452000743cfa1ad29a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>joint_name</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1imu__sensor__info.html</anchorfile>
      <anchor>a4a2f84f52c3eeb63a75645a2344f9006</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>physics::LinkPtr</type>
      <name>link</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1imu__sensor__info.html</anchorfile>
      <anchor>af79f32dfaf5c28dc4ebec2eccd4c8edd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ImuSensorPtr</type>
      <name>sensor</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1imu__sensor__info.html</anchorfile>
      <anchor>ad39544b03aa29b4ddaa9af27514bc194</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>sensor_name</name>
      <anchorfile>structgazebo_1_1IOBPlugin_1_1imu__sensor__info.html</anchorfile>
      <anchor>ae48641a39bdbed85887ab167105a356d</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
