<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>ikfast.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-katana_driver/doc_stacks/2015-08-27_13-37-11.313143/katana_driver/katana_moveit_ikfast_plugin/include/</path>
    <filename>ikfast_8h</filename>
    <class kind="class">ikfast::IkFastFunctions</class>
    <class kind="class">ikfast::IkSingleDOFSolutionBase</class>
    <class kind="class">ikfast::IkSolution</class>
    <class kind="class">ikfast::IkSolutionBase</class>
    <class kind="class">ikfast::IkSolutionList</class>
    <class kind="class">ikfast::IkSolutionListBase</class>
    <namespace>ikfast</namespace>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_VERSION</name>
      <anchorfile>ikfast_8h.html</anchorfile>
      <anchor>afb507c47cee8d15d0241aa894bef5a67</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>katana_450_6m90a_ikfast_plugin.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-katana_driver/doc_stacks/2015-08-27_13-37-11.313143/katana_driver/katana_moveit_ikfast_plugin/src/</path>
    <filename>katana__450__6m90a__ikfast__plugin_8cpp</filename>
    <includes id="katana__450__6m90a__ikfast__solver_8cpp" name="katana_450_6m90a_ikfast_solver.cpp" local="yes" imported="no">katana_450_6m90a_ikfast_solver.cpp</includes>
    <class kind="class">katana_450_6m90a_kinematics::IKFastKinematicsPlugin</class>
    <class kind="class">katana_450_6m90a_kinematics::IKSolver</class>
    <namespace>katana_450_6m90a_kinematics</namespace>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_NO_MAIN</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a2acf0f2516ebf5481d4db7f86f4d0da6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>IkParameterizationType</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_None</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608acbb149fc51418fe5ca9c9326d7a85197</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Transform6D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ae68e029cd9a0a5cc66f44a84d3fc5e2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Rotation3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608adfca050be6e40fac11c4d1c202e9e7cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Translation3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ac211365918e7c6ab47f3c033ab234ed7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Direction3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608aa157e9c60a9a834dfdeafc58af1070ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Ray4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ae1327fc8b01c04a212b514a2adb02ef1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Lookat3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a05dd369c70200bf0441121917e5e342f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationDirection5D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a4e6e703d91ab41d9e46119c2faf5abc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXY2D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a33c1a78b2297182210b5bcf3da3e24f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXYOrientation3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a1bc12f060f69050ab05a1f3118e1ca87</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationLocalGlobal6D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a90ded33f056d2bfe48dbe1378b46ff86</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngle4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a0a358d2e9dff594d0c065d0aaf1cd516</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngle4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608aa1684e80b5dc51dc80edb9dd5b031411</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngle4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a698e532ccbf7edd23adb966abeda97de</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngleZNorm4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a9c39960d72692fc68f62659da54cf471</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngleXNorm4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ac9eda3d51094d45d50122982bbcfbd39</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngleYNorm4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a49790b263b0731a229e15abec3e447d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_NumberOfParameterizations</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ad47e97bf461fac6ae96920897cb54048</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_VelocityDataBit</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ab7e6af6804e80c1c49941b3660ac75b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Transform6DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a0830efc41eb06a41c97cecabec52c795</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Rotation3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a8d02de9f768a39582859f55980586f04</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Translation3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a7c370fa6df1b1debf5dbd82e4afea435</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Direction3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a5a45e87dcb15eab0a852abb0d15c0409</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Ray4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a123f5823974e893e91311b4fd9c621d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Lookat3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a719d6ad6cf2b7a2e81e5f4ee5114971f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationDirection5DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a7fd17b63270a134c09c8b3244191027d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXY2DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a42bcd144678b4f5f17202868382fc7cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXYOrientation3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a191f583d6f444b16fc88df1287b985d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationLocalGlobal6DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a39be6c9706ca0738a8dc2eeae1f05cfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngle4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a35650229c346acddfe2d8c1491fc760e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngle4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a47b03325a386772bf482ef09c6f82bc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngle4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ad2455fadd2a808ca86f5896dd722f6d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngleZNorm4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a7ed293b960c2cf0e9f4b8798c34a4d50</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngleXNorm4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a4da7db040b1aaeb40c9e9aee8d0f440d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngleYNorm4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608aef69b2f64872ee422f5e84c917448a92</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_UniqueIdMask</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a29ea37580c0d616eec976c8aaabfd35d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_CustomDataBit</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a5c6ae13fce20b85ca4c313c768282899</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API void</type>
      <name>ComputeFk</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aa8117aa89dc03ac68754848adb45ac09</anchor>
      <arglist>(const IkReal *j, IkReal *eetrans, IkReal *eerot)</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API bool</type>
      <name>ComputeIk</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a492fc30c6ead96fff3d4665826fc6cbf</anchor>
      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgeev_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a215e82e41efcad8d4e3a5b6516eb035a</anchor>
      <arglist>(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi, double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgesv_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a2c988c41373ed209412214d01c97500e</anchor>
      <arglist>(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetrf_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a8e9964c375485a923cb778cc1de125ec</anchor>
      <arglist>(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetri_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ae490573b79ee33a009208a6e45edeb0c</anchor>
      <arglist>(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetrs_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a52c488a857cb4d81cb01d86d149ce908</anchor>
      <arglist>(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int *</type>
      <name>GetFreeParameters</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aeb7fc74c96011a78f86c35a9d4077f9b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API const char *</type>
      <name>GetIkFastVersion</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5e67668ccc1fdffd207f0ec978c50208</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetIkRealSize</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a14e3e72ca2ed43e909e94c03ead06f09</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetIkType</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a975908622c7e0e8a78913f86957f2e73</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API const char *</type>
      <name>GetKinematicsHash</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ae9532961c210e42ee038ae28d560619b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetNumFreeParameters</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aed1f1e5405bfbae0cb4d65b9168439a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetNumJoints</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a9d9492d5dbaff681c93ca4100a5431db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKabs</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a3c4575f0735a07d8d085af0a5cf2dbc4</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKabs</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ac40bc73431bff801cfff56849ed11f96</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKacos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a02e25308e062821280f436a1a40a7891</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKacos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aa73465dc0a8ba40d2f380c7ea50e804d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKasin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a8beac159f0ee4b6b4b340233fa096dfe</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKasin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>af71e82f54c5fb727351833a74085e753</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKatan2</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a147b16bbdf92a65719c22acef29ae28d</anchor>
      <arglist>(float fy, float fx)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKatan2</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a90d9c8a80b02553b32d7ae532451f8cb</anchor>
      <arglist>(double fy, double fx)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKcos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a15e93ca08e04b2512ac340462f73051e</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKcos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5ae37aa57e2263b0caf9ef8abb0e744d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKFAST_COMPILE_ASSERT</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a762d983b04584bff218e0e56f2a40912</anchor>
      <arglist>(IKFAST_VERSION==61)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKfmod</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5cd92ab898c0882f9c34110d140edcd2</anchor>
      <arglist>(float x, float y)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKfmod</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ac8a1b65cd88bc0cea6e8209af1cd75fa</anchor>
      <arglist>(double x, double y)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKlog</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>af0a3c635c858a5fd0c580c638ff509b4</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKlog</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a424f550faaf1e10cc3e057439a255a9a</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsign</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a80ec2ce17f8e2eb0c479adb100506a49</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsign</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ad2cf69fc12aca454686b4ee1b33bc701</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a93f16f8cf2ccc373322894d3df42a8ac</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a46f0b1cbee774c0c26cbba8fa60a8b4d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsqr</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5eaeb155099db2e56602dc709d8825c4</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsqr</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ae158af7375882178885022a3c110d3c6</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsqrt</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a69873fc87c029af2f8c7f6431256c142</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsqrt</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a0ceb5a6351b7e0934bc6dbd6ebcc4502</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKtan</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a381c729f068dbb2746ea2399ad7fb460</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKtan</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a19a09518f76cf0d13bfca166d23d7602</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PLUGINLIB_EXPORT_CLASS</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a0f6b96df4504b0e03a058e721d80a096</anchor>
      <arglist>(katana_450_6m90a_kinematics::IKFastKinematicsPlugin, kinematics::KinematicsBase)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>zgetrf_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ac66ecb7346b151b752ee9e93fc43ad7a</anchor>
      <arglist>(const int *m, const int *n, std::complex&lt; double &gt; *a, const int *lda, int *ipiv, int *info)</arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>LIMIT_TOLERANCE</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a6db90f19cce82ba375acd26f431403b6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>katana_450_6m90a_ikfast_solver.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-katana_driver/doc_stacks/2015-08-27_13-37-11.313143/katana_driver/katana_moveit_ikfast_plugin/src/</path>
    <filename>katana__450__6m90a__ikfast__solver_8cpp</filename>
    <includes id="ikfast_8h" name="ikfast.h" local="yes" imported="no">ikfast.h</includes>
    <class kind="class">IKSolver</class>
    <member kind="define">
      <type>#define</type>
      <name>__PRETTY_FUNCTION__</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a9c15fe1e91b07ea3280f5239f9841b67</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IK2PI</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>ad6a7e3ecef3983ec46a211ee00f30364</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IK2PI</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ad6a7e3ecef3983ec46a211ee00f30364</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_ALIGNED16</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a3940302e120211bb7af8a8a8290bb9e8</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_ALIGNED16</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a3940302e120211bb7af8a8a8290bb9e8</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_ASSERT</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>af4e88f631e5a9381055a48fc90f3a633</anchor>
      <arglist>(b)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_ATAN2_MAGTHRESH</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a0b03d83cf16b77e025d2100621f1f321</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_COMPILE_ASSERT</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a14ff3dec1d7bf1b6f8bc3a7dcc0ed883</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_COMPILE_ASSERT</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a14ff3dec1d7bf1b6f8bc3a7dcc0ed883</anchor>
      <arglist>(x)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_HAS_LIBRARY</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>aa9b5df21ca9479bf3deaa7da9845cd6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_HAS_LIBRARY</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>aa9b5df21ca9479bf3deaa7da9845cd6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_SINCOS_THRESH</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a66d4d0ad56673a9555ebafe898d1e2c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_SOLUTION_THRESH</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>adac93ad3ac22e016e6d690887e8688ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_STRINGIZE</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>af0758e12dac3c9aadf615fe07e5dbd9d</anchor>
      <arglist>(s)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_STRINGIZE</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>af0758e12dac3c9aadf615fe07e5dbd9d</anchor>
      <arglist>(s)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_STRINGIZE2</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ad6f886b3f30a68be92f3477f4e61da9d</anchor>
      <arglist>(s)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKFAST_STRINGIZE2</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>ad6f886b3f30a68be92f3477f4e61da9d</anchor>
      <arglist>(s)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKPI</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a0975daf07554eaa98742b83ae89344e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKPI</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a0975daf07554eaa98742b83ae89344e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKPI_2</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a45ed2f0e7e8e411264ebad95010986a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>IKPI_2</name>
      <anchorfile>katana__450__6m90a__ikfast__plugin_8cpp.html</anchorfile>
      <anchor>a45ed2f0e7e8e411264ebad95010986a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API void</type>
      <name>ComputeFk</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ac5b257dc48deeb1c904d40b5dbf4a5a4</anchor>
      <arglist>(const IkReal *j, IkReal *eetrans, IkReal *eerot)</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API bool</type>
      <name>ComputeIk</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ad6e97fc303efda1a956b9a044f8424fc</anchor>
      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgeev_</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ae833a06f7ce2542df24b072e9c61d4e6</anchor>
      <arglist>(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi, double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgesv_</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a8a0c34faf9ee31a4d83412a2b5d58125</anchor>
      <arglist>(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetrf_</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a1173528e396c678a5482bae5e7f6e43e</anchor>
      <arglist>(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetri_</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a8a0a23abeb2b5f4d136f544560421d68</anchor>
      <arglist>(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetrs_</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a1a2d74eb3410ef5bee213fce4b1f6443</anchor>
      <arglist>(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int *</type>
      <name>GetFreeParameters</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a17f253d85cd4ac00e8840c417eef2487</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API const char *</type>
      <name>GetIkFastVersion</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>aeb290d53b240a4d54cae3caaf43d19d7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetIkRealSize</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a6709f20b26f0903f0aa58a26934c853c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetIkType</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>abc401850b948d5a0402e9dbb77d3846f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API const char *</type>
      <name>GetKinematicsHash</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>afb700ffecf29c92e7b86762777659d85</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetNumFreeParameters</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>af0cf03d3ad69d099a9a2eb6db5e5b352</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetNumJoints</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a3e9541dde410904e043fe18701061b62</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKabs</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>af50774e991c9af3d423e2f15a1864fcd</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKabs</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a95e1896df0cdeedf37f08dcb341b3918</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKacos</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a6985b623469662633075c50b708b5a97</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKacos</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a10d86f8d485d2f30ce2638cb94b1e20e</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKasin</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a159f6680a5e7eb9da0d76bfce5461050</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKasin</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>abb5416a593fd7617f75130836a9f5491</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKatan2</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a5e00463327d5e1acfd4e8eb788bbd6ac</anchor>
      <arglist>(float fy, float fx)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKatan2</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a82c3e90527cb705afd35438841994aa2</anchor>
      <arglist>(double fy, double fx)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKcos</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a8d241417f26868995cfb5a5648816e63</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKcos</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ac925942daf5e1b7df0c38f2a7a501ac0</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKFAST_COMPILE_ASSERT</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>adf4b4c56fd2ff1b505933aef3f73caab</anchor>
      <arglist>(IKFAST_VERSION==61)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKfmod</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a8af0ce9307f58d1e64bb413077478244</anchor>
      <arglist>(float x, float y)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKfmod</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a1ec8174f881fb22cf1a7cdf19b9a84ad</anchor>
      <arglist>(double x, double y)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKlog</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ae5812d083cf95d2945bbd8b75c38d7cd</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKlog</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a429184284f7e6da54369a2290d8da22d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsign</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a845afc8ffdb8c068f0e75abac0d78b15</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsign</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a903ab9632f6846449bbb3a8bba65ad8e</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsin</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a7b5e881d13d85a4bc1020963f9e605b5</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsin</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a8a11e6f22a19bd8f4ac73c3645c93c81</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsqr</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ab527b2a76479c7f6ef9545b3c41a3b37</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsqr</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a95d600e8b1f9ee1b1f0d8919b31f1ce0</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsqrt</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a6f476874d10b265f6b0e6409104126b7</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsqrt</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>abb830ca15935c1c9b95a2ede5b2d43cc</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKtan</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>ad2361d774d694b5935519a1b3c1075f9</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKtan</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>acd8f1e5b83501cc42ffef27bd6458f9a</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>zgetrf_</name>
      <anchorfile>katana__450__6m90a__ikfast__solver_8cpp.html</anchorfile>
      <anchor>a6993bc2ff3751954630153bfd08bdd0b</anchor>
      <arglist>(const int *m, const int *n, std::complex&lt; double &gt; *a, const int *lda, int *ipiv, int *info)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>IKSolver</name>
    <filename>classIKSolver.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>ComputeIk</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ac0195e291bed491b4cb6a68db8199b55</anchor>
      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>polyroots4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a771ebe9dbd8593520e8aab200e3c141a</anchor>
      <arglist>(IkReal rawcoeffs[4+1], IkReal rawroots[4], int &amp;numroots)</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ae0fdf96e14e42d408bc5e16580c81100</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a66a0610cba0da00e09deda3c72e3909f</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>aff0b7815729d44c5decbef316763d45f</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a4e65e7d6f429bdc4ad9146bda1b48712</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a0b552c60bc1dd705f67a32cb3f03b738</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ac2fb0a00657f58a0bc49485454ddd914</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a38f5fb04f76ea095f6835eb767de1bbb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>aac13220157c526f065b9f655b4a5cb7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a19d64b2e1f7c33b7492420d74ff280a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>af4a3d8d26ff3a7cbf3ebbe8c8258f12c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>aa3c0bd74bcf87573ce608d8039408526</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a2eff4800151517f5c649cb948bad8326</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>afae239eeaad5f0c027cd4837faa666a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ae9b832aafcb4e3630a581c04b15d909b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a43e7823ac1496d1210dda7b76a4e037a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>af29aefe604a6957a573f5532a0ae0924</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>aa12be6bab85a8ca6c8c74c0cb5e92cf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a33e07730a03291ee56912b371dc8268f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ab1194d4acb88c80eb7dd3c75a099dd97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a84bea2670b08b33b5a24bb1d5d56d7ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a57f10792b61e342bc910311172b36488</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>abce606fc49166277524525eadfe47f1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a2059d93255027d204610a6818e5c45a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>adf5d1568dc258d51edc6430bf90ef09d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a7f090894b4553ceda8b2fbe91a9d469c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_px</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a81fbafdee3f4d7df5c82a4db80cb74d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_py</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a92d9c8748e96823e08979ba79f215031</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_pz</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a298e74662237a8df2869e8ad8ec2d00e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_r00</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a53a7eddb835224104838f523df53d07b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_r01</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a7bd00cd06f08e563763e834ffd0f66ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_r02</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a39f2dd1bfb92c6c5509f4da676748660</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>npx</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a42126eca3b2110aff8451060bce76c9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>npy</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ab79bcd5d003ba38f5c1926e35446d123</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>npz</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ac5ba601bbc95efd9881f70ebf871c5c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>pp</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a2940190f4bac7e2fcd3d95503beb1a29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>px</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a9d5c872c9a6b0b9fdc9ba4192763585f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>py</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a997924d324efb5f12e6642cb28ee1470</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>pz</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a34d107aa2bd31deda5da19b9c191f183</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>r00</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>abe2d67909dcd06df36369735b9eb44f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>r01</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ac19d13d4cf04f8fa93f295b67115ba18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>r02</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a6b885721baf3d20900bffecc1830948c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>rxp0_0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a6640ab19abf5f8d59d1f268be598b9d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>rxp0_1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>ae74bd1bcaca3440377e9afa78f39dae4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>rxp0_2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>aac158b1a0802a655cea8a339b34abccc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a791e2437d1fc1b568b213b0388f97d0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj1</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a0d7c3270795003a7947ae93ba90b8335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>adbd68395fd872d5e9a13f3a787c1b0d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a6b8d826d394d3d04633e5542d023ee5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj4</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a5f90cdbcbc7633850cfaeb547c11437c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ikfast</name>
    <filename>namespaceikfast.html</filename>
    <class kind="class">ikfast::IkFastFunctions</class>
    <class kind="class">ikfast::IkSingleDOFSolutionBase</class>
    <class kind="class">ikfast::IkSolution</class>
    <class kind="class">ikfast::IkSolutionBase</class>
    <class kind="class">ikfast::IkSolutionList</class>
    <class kind="class">ikfast::IkSolutionListBase</class>
  </compound>
  <compound kind="class">
    <name>ikfast::IkFastFunctions</name>
    <filename>classikfast_1_1IkFastFunctions.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>void(*</type>
      <name>ComputeFkFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>ab698a598e5939f90d8fdd2c63df2c54a</anchor>
      <arglist>)(const T *, T *, T *)</arglist>
    </member>
    <member kind="typedef">
      <type>bool(*</type>
      <name>ComputeIkFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>aca5c2cbe37c8b2c5702260271c343c93</anchor>
      <arglist>)(const T *, const T *, const T *, IkSolutionListBase&lt; T &gt; &amp;)</arglist>
    </member>
    <member kind="typedef">
      <type>int *(*</type>
      <name>GetFreeParametersFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a57201a37ce2e50c380973d43007b3d95</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="typedef">
      <type>const char *(*</type>
      <name>GetIkFastVersionFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a18988dda73efc7ebb14ed4f55949613a</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="typedef">
      <type>int(*</type>
      <name>GetIkRealSizeFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a2e8f2262c7cdf81524d750f929981739</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="typedef">
      <type>int(*</type>
      <name>GetIkTypeFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a021e3fbd64fd58836e04469fd340108e</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="typedef">
      <type>const char *(*</type>
      <name>GetKinematicsHashFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a5978dc6cbc708ab07bee0b595ecf0e60</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="typedef">
      <type>int(*</type>
      <name>GetNumFreeParametersFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a695aee8cc2b98f60530c9153beb73875</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="typedef">
      <type>int(*</type>
      <name>GetNumJointsFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a884a76902ea19aad90175f34019a9b1e</anchor>
      <arglist>)()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IkFastFunctions</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>ae5fdd9b86135849b887ae95f8abdfcee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~IkFastFunctions</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a811179abadd14264edd35248914e65bd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>ComputeFkFn</type>
      <name>_ComputeFk</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a5a30a89afe6314eb86a05c3bd5a1a303</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ComputeIkFn</type>
      <name>_ComputeIk</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a75775a9a8c284f52cb6cc473c434163c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetFreeParametersFn</type>
      <name>_GetFreeParameters</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a2c57255d31921839afb1ed5c5f86c7cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetIkFastVersionFn</type>
      <name>_GetIkFastVersion</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a1deac46b905d3d6fa2186e4fb52a75a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetIkRealSizeFn</type>
      <name>_GetIkRealSize</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a6e0b57e5123af02f5d27c894eac23181</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetIkTypeFn</type>
      <name>_GetIkType</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a22b3424efa52b1c611ad6ec426259aca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetKinematicsHashFn</type>
      <name>_GetKinematicsHash</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a838b34f459abceb7b0f537ad3d4f834b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetNumFreeParametersFn</type>
      <name>_GetNumFreeParameters</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>ac78c6f4a428df5b34944510af3abd68f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>GetNumJointsFn</type>
      <name>_GetNumJoints</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>aa7aadc4d797b2ecc3811a7887b0b0dfc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ikfast::IkSingleDOFSolutionBase</name>
    <filename>classikfast_1_1IkSingleDOFSolutionBase.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>IkSingleDOFSolutionBase</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>aa3c37c6e9a4903f1303893e966260789</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>T</type>
      <name>fmul</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>adb64a33a2ce7357684c9c89d75cacd0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>T</type>
      <name>foffset</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a1d5900ae9cb2d55c396b995b976fdcef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>signed char</type>
      <name>freeind</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>adca245b0afa4133dddbd10803053bc2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>indices</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a50d8439b7f735a474f6dfe42e91de455</anchor>
      <arglist>[5]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>jointtype</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a3c458c4a2b06b4a2ccffc265cf34c6fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>maxsolutions</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a45404bf30c7b90131b7ce2b8045c6f6a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ikfast::IkSolution</name>
    <filename>classikfast_1_1IkSolution.html</filename>
    <templarg></templarg>
    <base>ikfast::IkSolutionBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual const int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a8d46fe7ed5a582f9ad3f4bfc86b41297</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const std::vector&lt; int &gt; &amp;</type>
      <name>GetFree</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a31267c02ff31436b0bfe3672bcecce5e</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a197868105dffb498bec69c38318283a2</anchor>
      <arglist>(T *solution, const T *freevalues) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a56a7305f2111808478f85a43ecc5e6aa</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolutionIndices</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ae6b77cab94b40369712a099cc21d42e8</anchor>
      <arglist>(std::vector&lt; unsigned int &gt; &amp;v) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IkSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a6b76af506a24ba4b78b1c9d3dc110a72</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Validate</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ad61847499fe76751629f70047f8b0a69</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt;</type>
      <name>_vbasesol</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ac1b4c9612cee58a2b98388454b1054d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>_vfree</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a3c552543a66e39e127bed5a5c085b1bb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ikfast::IkSolutionBase</name>
    <filename>classikfast_1_1IkSolutionBase.html</filename>
    <templarg>T</templarg>
    <member kind="function" virtualness="pure">
      <type>virtual const int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>aac54f54aa69b27991651b0ba2a21208c</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const std::vector&lt; int &gt; &amp;</type>
      <name>GetFree</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>a2693ede66be937b7c4c1c949284282ca</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>a9405530feb49f12f56c3175e7150c66f</anchor>
      <arglist>(T *solution, const T *freevalues) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>a2b558f7a29be0868cff3e81fbd9594c4</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~IkSolutionBase</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>ae40e464cdbc474388cc7d55560ec44f9</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ikfast::IkSolutionList</name>
    <filename>classikfast_1_1IkSolutionList.html</filename>
    <templarg>T</templarg>
    <base>ikfast::IkSolutionListBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>ac0a503b13e68403e7b2d92afd4c28a7b</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Clear</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>ae341a33d5aee644cac867e3edd2a9916</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>GetNumSolutions</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>a4508235ea7738ee067d6525a34362567</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const IkSolutionBase&lt; T &gt; &amp;</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>ab2840cca4cea5547d684907047d38bba</anchor>
      <arglist>(size_t index) const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::list&lt; IkSolution&lt; T &gt; &gt;</type>
      <name>_listsolutions</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>acaba262a6f62eee0620b6f190dbbe185</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ikfast::IkSolutionListBase</name>
    <filename>classikfast_1_1IkSolutionListBase.html</filename>
    <templarg>T</templarg>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a9d862f550472c2fa15189946b12222bf</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>Clear</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a9940fe21cfa0a67c1a21a672696c5cb5</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>GetNumSolutions</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a5f4a2191825f1d2aad3468daf94d575f</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const IkSolutionBase&lt; T &gt; &amp;</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a540d8c85b5be635ea671ef7ddc0eb9c0</anchor>
      <arglist>(size_t index) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~IkSolutionListBase</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a1200afc2fc92110d9f8191039f0f7d6c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>katana_450_6m90a_kinematics</name>
    <filename>namespacekatana__450__6m90a__kinematics.html</filename>
    <class kind="class">katana_450_6m90a_kinematics::IKFastKinematicsPlugin</class>
    <class kind="class">katana_450_6m90a_kinematics::IKSolver</class>
    <member kind="enumeration">
      <name>IkParameterizationType</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_None</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608acbb149fc51418fe5ca9c9326d7a85197</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Transform6D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ae68e029cd9a0a5cc66f44a84d3fc5e2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Rotation3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608adfca050be6e40fac11c4d1c202e9e7cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Translation3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ac211365918e7c6ab47f3c033ab234ed7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Direction3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608aa157e9c60a9a834dfdeafc58af1070ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Ray4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ae1327fc8b01c04a212b514a2adb02ef1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Lookat3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a05dd369c70200bf0441121917e5e342f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationDirection5D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a4e6e703d91ab41d9e46119c2faf5abc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXY2D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a33c1a78b2297182210b5bcf3da3e24f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXYOrientation3D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a1bc12f060f69050ab05a1f3118e1ca87</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationLocalGlobal6D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a90ded33f056d2bfe48dbe1378b46ff86</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngle4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a0a358d2e9dff594d0c065d0aaf1cd516</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngle4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608aa1684e80b5dc51dc80edb9dd5b031411</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngle4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a698e532ccbf7edd23adb966abeda97de</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngleZNorm4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a9c39960d72692fc68f62659da54cf471</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngleXNorm4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ac9eda3d51094d45d50122982bbcfbd39</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngleYNorm4D</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a49790b263b0731a229e15abec3e447d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_NumberOfParameterizations</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ad47e97bf461fac6ae96920897cb54048</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_VelocityDataBit</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ab7e6af6804e80c1c49941b3660ac75b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Transform6DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a0830efc41eb06a41c97cecabec52c795</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Rotation3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a8d02de9f768a39582859f55980586f04</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Translation3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a7c370fa6df1b1debf5dbd82e4afea435</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Direction3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a5a45e87dcb15eab0a852abb0d15c0409</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Ray4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a123f5823974e893e91311b4fd9c621d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Lookat3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a719d6ad6cf2b7a2e81e5f4ee5114971f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationDirection5DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a7fd17b63270a134c09c8b3244191027d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXY2DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a42bcd144678b4f5f17202868382fc7cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXYOrientation3DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a191f583d6f444b16fc88df1287b985d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationLocalGlobal6DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a39be6c9706ca0738a8dc2eeae1f05cfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngle4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a35650229c346acddfe2d8c1491fc760e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngle4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a47b03325a386772bf482ef09c6f82bc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngle4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608ad2455fadd2a808ca86f5896dd722f6d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngleZNorm4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a7ed293b960c2cf0e9f4b8798c34a4d50</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngleXNorm4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a4da7db040b1aaeb40c9e9aee8d0f440d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngleYNorm4DVelocity</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608aef69b2f64872ee422f5e84c917448a92</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_UniqueIdMask</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a29ea37580c0d616eec976c8aaabfd35d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_CustomDataBit</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>acfaf09de2d8d88e7cc15b7b7944af608a5c6ae13fce20b85ca4c313c768282899</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API void</type>
      <name>ComputeFk</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aa8117aa89dc03ac68754848adb45ac09</anchor>
      <arglist>(const IkReal *j, IkReal *eetrans, IkReal *eerot)</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API bool</type>
      <name>ComputeIk</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a492fc30c6ead96fff3d4665826fc6cbf</anchor>
      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgeev_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a215e82e41efcad8d4e3a5b6516eb035a</anchor>
      <arglist>(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi, double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgesv_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a2c988c41373ed209412214d01c97500e</anchor>
      <arglist>(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetrf_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a8e9964c375485a923cb778cc1de125ec</anchor>
      <arglist>(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetri_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ae490573b79ee33a009208a6e45edeb0c</anchor>
      <arglist>(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dgetrs_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a52c488a857cb4d81cb01d86d149ce908</anchor>
      <arglist>(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int *</type>
      <name>GetFreeParameters</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aeb7fc74c96011a78f86c35a9d4077f9b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API const char *</type>
      <name>GetIkFastVersion</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5e67668ccc1fdffd207f0ec978c50208</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetIkRealSize</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a14e3e72ca2ed43e909e94c03ead06f09</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetIkType</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a975908622c7e0e8a78913f86957f2e73</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API const char *</type>
      <name>GetKinematicsHash</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ae9532961c210e42ee038ae28d560619b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetNumFreeParameters</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aed1f1e5405bfbae0cb4d65b9168439a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IKFAST_API int</type>
      <name>GetNumJoints</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a9d9492d5dbaff681c93ca4100a5431db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKabs</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a3c4575f0735a07d8d085af0a5cf2dbc4</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKabs</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ac40bc73431bff801cfff56849ed11f96</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKacos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a02e25308e062821280f436a1a40a7891</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKacos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>aa73465dc0a8ba40d2f380c7ea50e804d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKasin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a8beac159f0ee4b6b4b340233fa096dfe</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKasin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>af71e82f54c5fb727351833a74085e753</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKatan2</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a147b16bbdf92a65719c22acef29ae28d</anchor>
      <arglist>(float fy, float fx)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKatan2</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a90d9c8a80b02553b32d7ae532451f8cb</anchor>
      <arglist>(double fy, double fx)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKcos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a15e93ca08e04b2512ac340462f73051e</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKcos</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5ae37aa57e2263b0caf9ef8abb0e744d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKFAST_COMPILE_ASSERT</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a762d983b04584bff218e0e56f2a40912</anchor>
      <arglist>(IKFAST_VERSION==61)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKfmod</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5cd92ab898c0882f9c34110d140edcd2</anchor>
      <arglist>(float x, float y)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKfmod</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ac8a1b65cd88bc0cea6e8209af1cd75fa</anchor>
      <arglist>(double x, double y)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKlog</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>af0a3c635c858a5fd0c580c638ff509b4</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKlog</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a424f550faaf1e10cc3e057439a255a9a</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsign</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a80ec2ce17f8e2eb0c479adb100506a49</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsign</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ad2cf69fc12aca454686b4ee1b33bc701</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a93f16f8cf2ccc373322894d3df42a8ac</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsin</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a46f0b1cbee774c0c26cbba8fa60a8b4d</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsqr</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a5eaeb155099db2e56602dc709d8825c4</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsqr</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ae158af7375882178885022a3c110d3c6</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKsqrt</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a69873fc87c029af2f8c7f6431256c142</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKsqrt</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a0ceb5a6351b7e0934bc6dbd6ebcc4502</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>IKtan</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a381c729f068dbb2746ea2399ad7fb460</anchor>
      <arglist>(float f)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>IKtan</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>a19a09518f76cf0d13bfca166d23d7602</anchor>
      <arglist>(double f)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>zgetrf_</name>
      <anchorfile>namespacekatana__450__6m90a__kinematics.html</anchorfile>
      <anchor>ac66ecb7346b151b752ee9e93fc43ad7a</anchor>
      <arglist>(const int *m, const int *n, std::complex&lt; double &gt; *a, const int *lda, int *ipiv, int *info)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>katana_450_6m90a_kinematics::IKFastKinematicsPlugin</name>
    <filename>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</filename>
    <base>kinematics::KinematicsBase</base>
    <member kind="function">
      <type>bool</type>
      <name>getPositionFK</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a65574d26e88dca2a2e1fa9e185c87b90</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a0bed98c861d1bfdca86ccb579d672db1</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKFastKinematicsPlugin</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a12fdd4484518ef5c7971978f82e196c8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aadbb97b5a20b86611548ebc853425046</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a8e1a8cd84805048bd487312cf2c37983</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ab03bf08bb59b74611bddc7b376cbfa10</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>abfe8b0ce7d4ede126d2f709501d0cce0</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>fillFreeParams</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>af299c4b2c8c36b5dd5551a6f36090ff0</anchor>
      <arglist>(int count, int *array)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getClosestSolution</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ab2225e13310ad3c350b1654d79d3e217</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>getCount</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a7dac5355b4cd8d480c2d9df902d9a8e9</anchor>
      <arglist>(int &amp;count, const int &amp;max_count, const int &amp;min_count) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a8ce0c1084a60c8334e304f20eedcd80d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a605e244669fde604a83acf1228da4607</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>adc83dcfdc8219025bbac7552df5345d8</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, int i, std::vector&lt; double &gt; &amp;solution) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>harmonize</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>af0da6a05ac6cb148354514ebdd59da13</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a92ce9a8f505c4b0e4ac97c15f7af20bf</anchor>
      <arglist>(const std::string &amp;robot_description, const std::string &amp;group_name, const std::string &amp;base_name, const std::string &amp;tip_name, double search_discretization)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>solve</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>af212938826ac50a90aab8d6fc706b4f2</anchor>
      <arglist>(KDL::Frame &amp;pose_frame, const std::vector&lt; double &gt; &amp;vfree, IkSolutionList&lt; IkReal &gt; &amp;solutions) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>active_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a6748e623caf989404c8bc787d936037e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>free_params_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ae4e308325946ee131f198cd475761713</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; bool &gt;</type>
      <name>joint_has_limits_vector_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a0ccee64a699fe0ccc94b1b4d71312dec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_max_vector_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aee207bd8e5990efd2c9998809ef309ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_min_vector_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a3941dd762398071bd26f771eac2397a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a14734a4cf5d09f177f2c01cd679eee76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>link_names_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a5c1472412297e0d137d684cd299e7b30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_joints_</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a3738a669d9f5ca2999a077ea08c8b50a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>katana_450_6m90a_kinematics::IKSolver</name>
    <filename>classkatana__450__6m90a__kinematics_1_1IKSolver.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>ComputeIk</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>afe9af1ce905e2ffe130f6ef9be8af773</anchor>
      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>polyroots4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a1a547300b9ab903acd498f2d073bcfb5</anchor>
      <arglist>(IkReal rawcoeffs[4+1], IkReal rawroots[4], int &amp;numroots)</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>adc7f31a724c885d9592efb5665e95411</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a91e834ceec6f034569e5821f74cfa99d</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ac93b2a1faf948c3f3a4790590e6d8ea3</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij3</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ab38192f59977ae1d8ace1fa380e0b06e</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_ij4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a15acdcf0946875b7cf5fe262bee24061</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>aa73480df9b5798632ad0aed3cff612fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a47b76e28e3a90aa689b35780a06fbea2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>acc6a977d77b87340869c42a33c9fce90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj3</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a8592e38f62fb00b9c2ecab1a72976d40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned char</type>
      <name>_nj4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a8054386b829d6903de17fd9695cab935</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a15cfb459790d2c39754d92beaff5c4e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ab7e2986b3d58ce13485562a2a8a4fd98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a6e9bdaaf1f62942b394e9c0a1b0f99ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj3</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a8d7aaefd717a9d6434c729925163d69d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>cj4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a98fff5f67d47f7662cd4c4f5f6ead8ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ad58d706e0bff65b934e126e8ddf4ae2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ae7e491cfb4488a58fc8b4b1bd9a98ab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a8514666d0272e86692ebd53a00888f98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj3</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a3a2aeb4d84ad394991709b76a3cc8c4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>htj4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ad363e49488b6ece84a4fbaf25950eada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a143e74d75923987fa5cc5e14be53541b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a3f42271d945e76fc6799843d56b87a82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ace33686436e151a88aa5156bbe016ddb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j3</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ac68bb488972dba8cb9b17b04c8e58be2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>j4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a03744b49ace5d07c05b4e96e9d1bdaf5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_px</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>abfd08add3fd8c3a5a3cf1079c9cdc106</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_py</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a368148801d9141f0fc20d6110ea17316</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_pz</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a8729de0a5c901109208856c588dc703f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_r00</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a9f27ee0dd49a75d724fe63bbc9ff0d67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_r01</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>af4ff95e2e0ec4fd3b5020ebce8158661</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>new_r02</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>afb7b6c92533388519e9cdf0cc2a6ce36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>npx</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a6c4af2fda0d7b5fb39ab8e63e2d3ff19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>npy</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a7f874af8470a256572b4a824b61f68bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>npz</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a5d99dd4cf60618769203697601c9172f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>pp</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a83bcf17a709b19183021909feff67b3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>px</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a89a3766887c599e88ddc60f4a18366af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>py</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>ab10c34b547dfa4633af4dafe406235bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>pz</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a58e86f9f89195ff70972ec310b097f29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>r00</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>affe1a955ef0ae618008474063a1c0d9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>r01</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a49281ab0548c0ede3115a3b808781567</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>r02</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a14abd7a0ec54b2e497450c39c2960475</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>rxp0_0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a459f70292fe156f2c0d327fb472ee165</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>rxp0_1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a694cc0c2976b93d8f418ba629d3ec1c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>rxp0_2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>afecb2ef4d3f80e3fda76f509b881e046</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj0</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a09958549f18e35545a910433c5b41559</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj1</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a555c7df644ac857f6ae558116d3b7965</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj2</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a50c9913a56719cfa97c33b1c97910cab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj3</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a8ec8f0d47ab1df34e330023036f8ba7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>IkReal</type>
      <name>sj4</name>
      <anchorfile>classkatana__450__6m90a__kinematics_1_1IKSolver.html</anchorfile>
      <anchor>a229019849d956a63e12f0a3a5444dfd2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ros</name>
    <filename>namespaceros.html</filename>
  </compound>
  <compound kind="namespace">
    <name>test</name>
    <filename>namespacetest.html</filename>
  </compound>
</tagfile>
