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      <arglist>(long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl)</arglist>
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      <arglist>(KNI::kmlFactory *infos, CCplBase *protocol)</arglist>
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      <arglist>(TKatGNL &amp;gnl, TKatMOT &amp;mot, TKatSCT &amp;sct, TKatEFF &amp;eff, CCplBase *protocol)</arglist>
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      <arglist>(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
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      <arglist>(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
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      <arglist>()</arglist>
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      <arglist>(short number)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(int axis)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(int axis)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(bool &amp;isPresent, int &amp;openEncoders, int &amp;closeEncoders)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number) const </arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number, bool refreshEncoders=true) const </arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number) const </arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>() const </arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(std::vector&lt; int &gt;::iterator start, std::vector&lt; int &gt;::const_iterator end, bool refreshEncoders=true) const </arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(bool refreshEncoders=true) const </arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number, int encoders, bool waitUntilReached=false, int waitTimeout=0)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(std::vector&lt; int &gt;::const_iterator start, std::vector&lt; int &gt;::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(std::vector&lt; int &gt; encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(std::vector&lt; int &gt; target, int velocity=180, int acceleration=1, int encTolerance=100)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(bool waitUntilReached=false, int waitTimeout=100)</arglist>
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      <arglist>()</arglist>
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      <arglist>(long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl)</arglist>
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      <arglist>(short number, short targetPosition, short duration, short p1, short p2, short p3, short p4)</arglist>
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      <arglist>(std::vector&lt; short &gt; polynomial, bool exactflag, int moreflag)</arglist>
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      <arglist>(long idx, int limit)</arglist>
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      <arglist>(int axis, int limit)</arglist>
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      <arglist>(bool isPresent, int openEncoders, int closeEncoders)</arglist>
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      <arglist>(short number, short acceleration)</arglist>
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      <arglist>(short acceleration)</arglist>
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      <arglist>(short velocity)</arglist>
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      <arglist>(bool exactflag, int moreflag=1)</arglist>
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      <arglist>(short number)</arglist>
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      <arglist>(TMotStsFlg status, int waitTimeout)</arglist>
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      <arglist>(short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist>(long idx, int enc_tolerance)</arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classCKatana.html</anchorfile>
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      <arglist></arglist>
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      <name>base</name>
      <anchorfile>classCKatana.html</anchorfile>
      <anchor>af32c87dab006252f4e9351cccf5cb44f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>mKatanaType</name>
      <anchorfile>classCKatana.html</anchorfile>
      <anchor>a1daf4b7d80123f92046b5771660b3352</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>mKinematics</name>
      <anchorfile>classCKatana.html</anchorfile>
      <anchor>a106e0895fc560ff873b247dc870c54c0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>CKatBase</name>
    <filename>classCKatBase.html</filename>
    <member kind="function">
      <type>int</type>
      <name>checkKatanaType</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aeee1ca89c2d69e49369faf25b498e94b</anchor>
      <arglist>(int type)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CKatBase</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aa313254302494d3ba7c69cfeea7d9023</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disableCrashLimits</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aa1db4609f688a931b854a1487516dc6b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>enableCrashLimits</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a7e9d8e56233f190456bae8b32c2d087c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>flushMoveBuffers</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a6463d3720e77d357488e8a2b3251b20d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatCBX *</type>
      <name>GetCBX</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>adaf194f13f9a2bb8e3013da4e776f651</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatCTB *</type>
      <name>GetCTB</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a12da99ac4d5175e9c58a187963611ca1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatECH *</type>
      <name>GetECH</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ac3d431cb58094af3944c113a74c5828b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>TKatEFF *</type>
      <name>GetEFF</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a48a553c13a45a336859477675643f44f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatGNL *</type>
      <name>GetGNL</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a78b2490301671c3256f8cd7fdd1534cf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatIDS *</type>
      <name>GetIDS</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a6ad3b67946eefff6b49768710c1da49a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getMasterFirmware</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aff112c1f7d5bd6a77ae25d33b72d3a4f</anchor>
      <arglist>(short *fw, short *rev)</arglist>
    </member>
    <member kind="function">
      <type>const TKatMFW *</type>
      <name>GetMFW</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a7b9139f3bee99c9946f142f4b64bda94</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatMOT *</type>
      <name>GetMOT</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aaa2da92e850dcf13de716713c9cb5155</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>CCplBase *</type>
      <name>getProtocol</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ab86bbbca447f63b83b88b332315cb981</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TKatSCT *</type>
      <name>GetSCT</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ad73954c98187f318489ca5a38d4766e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aba15fe944c1696940d71210f42c0c01f</anchor>
      <arglist>(const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>readDigitalIO</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>aafa5b6d80b256790838892c4123fdf9d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvCTB</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ae54f314865d7c7041e9475891bd31df5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvECH</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>abf31172cf542538b376ef104384b39d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvGMS</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a3a84cf93bc8c811d0701bdfd5a2ff6a5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvIDS</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ab3b28802143acbb52c40a3d92bfe97db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvMFW</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a6bf7595300ef6d2282da34e3a7ae224c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvMPS</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a57b08c285923808ae26c6ee67f0c6d4c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAndStartPolyMovement</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ad510d1a322a72e7c4548db03093e657d</anchor>
      <arglist>(std::vector&lt; short &gt; polynomial, int exactflag, int moreflag)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCrashLimit</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a250a1c948e984f721e8c35bd099c0cd2</anchor>
      <arglist>(long idx, int limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPositionCollisionLimit</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a515ecede8c1a63d47c83ada865194a28</anchor>
      <arglist>(long idx, int limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSpeedCollisionLimit</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ae9ea9bb46243d7c59aeed6c3b0c87a0d</anchor>
      <arglist>(long idx, int limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>startSplineMovement</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a7f40cddc215c3edccc2a06f264336ed6</anchor>
      <arglist>(int exactflag, int moreflag=1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unBlock</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a81b5c4b3bb32e2724852dd0c78eecbbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>waitFor</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ac9b2b64aa75031544f6e756d264fae30</anchor>
      <arglist>(TMotStsFlg status, int waitTimeout, bool gripper)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CKatBase</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ad512d6857264c7fecdefd6968814cb05</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatCBX</type>
      <name>cbx</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a0dc353534ad2ea7131b59648888a4aa1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatCTB</type>
      <name>ctb</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a9595010a99623cbfde0468d80485e976</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatECH</type>
      <name>ech</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a808298df29ee9f42aee3947fc293d5a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatEFF</type>
      <name>eff</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>afa64b06ab51e5f961ad304ee0c5ada66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatGNL</type>
      <name>gnl</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ac07e59aae6f45d186b9c17cf5dd18c9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatIDS</type>
      <name>ids</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ac007c364aca3be184eb0b84689e37f49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatMFW</type>
      <name>mfw</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a02e1e320ed6d15b011db980dbe36db9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>short</type>
      <name>mMasterRevision</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>ad68968ee90f62ec6cf4dd81bbdeca1c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>short</type>
      <name>mMasterVersion</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a7eb00424ba72a2a4c508220a569825e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatMOT</type>
      <name>mot</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a8e0deadb88fe9da2d61efda7a7d9805a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CCplBase *</type>
      <name>protocol</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>afc5f8ed4cd2793a9b839ccbbf4e72a4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TKatSCT</type>
      <name>sct</name>
      <anchorfile>classCKatBase.html</anchorfile>
      <anchor>a2a003325e068a8519605881eb5978074</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Clik</name>
    <filename>classClik.html</filename>
    <member kind="function">
      <type></type>
      <name>Clik</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>af474f5f21e20dcb60b21a0b483a3955e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Clik</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>ac181db26ee85909d9519b53eaaef9b43</anchor>
      <arglist>(const Robot &amp;robot_, const DiagonalMatrix &amp;Kp_, const DiagonalMatrix &amp;Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Clik</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a337e243760292925849392e5fcac99c7</anchor>
      <arglist>(const mRobot &amp;mrobot_, const DiagonalMatrix &amp;Kp_, const DiagonalMatrix &amp;Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Clik</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>ae5483f0cf2384344906ef4b29e658c0a</anchor>
      <arglist>(const mRobot_min_para &amp;mrobot_min_para_, const DiagonalMatrix &amp;Kp_, const DiagonalMatrix &amp;Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Clik</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>aa85b46fdb9516d654bf83f236256d11e</anchor>
      <arglist>(const Clik &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>Clik &amp;</type>
      <name>operator=</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a49514c2f41b1e00d29ebc9496b38ab42</anchor>
      <arglist>(const Clik &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>q_qdot</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>ae643406eef5a06793cb36590907b9156</anchor>
      <arglist>(const Quaternion &amp;qd, const ColumnVector &amp;pd, const ColumnVector &amp;pddot, const ColumnVector &amp;wd, ColumnVector &amp;q, ColumnVector &amp;qp)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Clik</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a36f3aeff6cce4cf3f73097e883d0a4ce</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>endeff_pos_ori_err</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>abca8cb0498db2890351ae818e830d4e3</anchor>
      <arglist>(const ColumnVector &amp;pd, const ColumnVector &amp;pddot, const Quaternion &amp;qd, const ColumnVector &amp;wd)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>dt</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a4f040c7848efb71e34e0ab012f8a4029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>eps</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a6240605fba6b6036ebfda5a83f4ff024</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DiagonalMatrix</type>
      <name>Ko</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a7b3bef1c742a5b5856491b9b20e2e178</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>Koe0Quat</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a3518612c19313e1a60b3cbae8582e34c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DiagonalMatrix</type>
      <name>Kp</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>abdd67efd79435a883a800caa28243d18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>Kpep</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a78796369a6dec732c44ee936f800f8ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>lambda_max</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a375c36cdf17362159daf99d847d99b47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>mRobot</type>
      <name>mrobot</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>af7aae0e96cf8165274c6ccdd79f5af08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>mRobot_min_para</type>
      <name>mrobot_min_para</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>ad6ed9c58dc21bd6f28e53a2c006ed5cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>q</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a8ab61145a6aae64d27ce86a0c95c588e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>qp</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a2dc45cf1dcfffad0908651d8f97653f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>qp_prev</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a5aa1f7628fc38aaf279884175d384ca1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Robot</type>
      <name>robot</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>a4e8053d23c9921dc150d280f2793d668</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>short</type>
      <name>robot_type</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>ae2814d73070b5be5ff179998d791207b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>v</name>
      <anchorfile>classClik.html</anchorfile>
      <anchor>adc23b9a37a9577d1934da8812613d3b9</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>CLMBase</name>
    <filename>classCLMBase.html</filename>
    <base>CikBase</base>
    <member kind="function">
      <type></type>
      <name>CLMBase</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga97770ffc63896ec86a5b2bb719599ac2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getActivatePositionController</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gaa7f092dc22569135677113554a8edc2f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMaximumLinearVelocity</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga0e3e6fe11c0c3a989f46317818b8e6a2</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>moveRobotLinearTo</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gad8d130a1ee82f07257a5a5229fe67f30</anchor>
      <arglist>(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>moveRobotLinearTo</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gaf9ee29f7dbe2dee3ea4429fc97500e4e</anchor>
      <arglist>(std::vector&lt; double &gt; coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>moveRobotTo</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gaf843d93a396930ced3a8637f7b5cb1ea</anchor>
      <arglist>(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>moveRobotTo</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga960030994f5ecb465f8e809a4e688acd</anchor>
      <arglist>(std::vector&lt; double &gt; coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>movLM</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga728b71724865e3b6d410b428e79a31d8</anchor>
      <arglist>(double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>movLM2P</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga82f9e6bbfe141a631c450c26d93994d3</anchor>
      <arglist>(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>movP2P</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga43e7cee9a8c63dc84ced288c4d8a7be7</anchor>
      <arglist>(double X1, double Y1, double Z1, double Ph1, double Th1, double Ps1, double X2, double Y2, double Z2, double Ph2, double Th2, double Ps2, bool exactflag, double vmax, bool wait=true, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setActivatePositionController</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga6a36cfee0f659e071746a4dd1dba0c61</anchor>
      <arglist>(bool activate)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMaximumLinearVelocity</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gaa681841b6b7de20c096cf0330eaf1c26</anchor>
      <arglist>(double maximumVelocity)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>checkJointSpeed</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga7f3ba36881e0945d6e5cf121f88cad28</anchor>
      <arglist>(std::vector&lt; int &gt; lastsolution, std::vector&lt; int &gt; solution, double time)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>getSpeed</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gadcb94cf61efbe0e128d15c38ec0bc5da</anchor>
      <arglist>(int distance, int acceleration, int time)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>relPosition</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga69e4d9726b8bd3bc1c40e23b569112e3</anchor>
      <arglist>(double reltime, double distance, double acc, double dec, double vmax)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>splineCoefficients</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gabdf434b55bc561e678b2b2820e2a7c31</anchor>
      <arglist>(int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>totalTime</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>gaf78530acb154cc505ac8f1ea5fa91d1f</anchor>
      <arglist>(double distance, double acc, double dec, double vmax)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>_activatePositionController</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga1a012f08b7a5c2d9e0bb40d02863c669</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>_maximumVelocity</name>
      <anchorfile>group__exceptions.html</anchorfile>
      <anchor>ga5e3635cf4fe50f0937c2c5841a17feae</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>CMotBase</name>
    <filename>classCMotBase.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>checkAngleInRange</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ae039df23506c08e1afced42e27f07c28</anchor>
      <arglist>(double angle)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkEncoderInRange</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a61bc93d7d08766bd9802e1cf3318e47c</anchor>
      <arglist>(int encoder)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dec</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ac6dd19b239114109c72c09d8328ab38e</anchor>
      <arglist>(int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>decDegrees</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a0657c3dd43a795d260cf2a2fa074ac01</anchor>
      <arglist>(double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>const TMotAPS *</type>
      <name>GetAPS</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a35532f3236b00e3d153fb9cbee454a5e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>GetBlocked</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ac1ee428fd4902dfadc859527a64c55cf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotCLB *</type>
      <name>GetCLB</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a49af3d94ba8870d7743973167b83ee87</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotDYL *</type>
      <name>GetDYL</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a6216175ebd3f4e40d205b70a6972f1ce</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEncoderMaxPos</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>adaefbca25572a61f2b088dfe76d8787e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEncoderMinPos</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a48603de0825893c15329a6235d4d30c6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEncoderRange</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a9898c387cbdace0d4d7c66d4b10436bf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEncoderTolerance</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a0767ea2b6f9e2a0f2432d3875a2f274c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>GetFreedom</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a0d5f629d487b3b03314cdb48eed805ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotGNL *</type>
      <name>GetGNL</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a40aeb5bd256b758fceaf82432b1d9896</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotInit *</type>
      <name>GetInitialParameters</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a13be8a88bfc39ccc789c9ccfb27db517</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getParameterOrLimit</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a59ad8d549a687a44541663f12f2523c8</anchor>
      <arglist>(int subcommand, byte *R1, byte *R2, byte *R3)</arglist>
    </member>
    <member kind="function">
      <type>const TMotPVP *</type>
      <name>GetPVP</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ada614abdc4932d4d5e907d3026d90367</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotSCP *</type>
      <name>GetSCP</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>af656939b08aca949be6bf2dd9eb8758b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotSFW *</type>
      <name>GetSFW</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>acac44d3830b023527ab16dcb143c2caf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const TMotTPS *</type>
      <name>GetTPS</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a93c6b34fd38c3a011e65abb901ff92cc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inc</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>abe6e966103987cdb1237dfe699f3c0ae</anchor>
      <arglist>(int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>incDegrees</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a9e585a5ba8a4d5cd66932ff24de69cd5</anchor>
      <arglist>(double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ab0e58f13e80f75905d0973da1661d960</anchor>
      <arglist>(CKatBase *_own, const TMotDesc _motDesc, CCplBase *protocol)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>mov</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a265fb800411933d77d68ec51874b3c44</anchor>
      <arglist>(int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>movDegrees</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a82c0585ef98f10f9142dbaf80067410e</anchor>
      <arglist>(double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvPVP</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a6ea33789c7745099a8348972993c86be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>recvSFW</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a8e01c936dc0a317e01f4f81892b26c37</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetBlocked</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ae73e9a88150c38b4b8084694eda6dfc8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sendAPS</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a2826539e613394a8bc2494d18c705cef</anchor>
      <arglist>(const TMotAPS *_aps)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sendSpline</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>acdca375dd382b9c4b652a5f6059f7ac8</anchor>
      <arglist>(short targetPosition, short duration, short p1, short p2, short p3, short p4)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sendTPS</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a821dc8b86d9226f840069ea16e4fb5be</anchor>
      <arglist>(const TMotTPS *_tps)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAccelerationLimit</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a756477d12ee5386f92df9c2bc234fed0</anchor>
      <arglist>(short acceleration)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCalibrated</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a7519299c08684c77b406e9e1caf57ea3</anchor>
      <arglist>(bool calibrated)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCalibrationParameters</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>affc418ac28cfa599574a652d670173b1</anchor>
      <arglist>(bool doCalibration, short order, TSearchDir direction, TMotCmdFlg motorFlagAfter, int encoderPositionAfter)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setControllerParameters</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a67e5bd920dba6f36fbab474afac6bd26</anchor>
      <arglist>(byte kSpeed, byte kPos, byte kI)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCrashLimit</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>aa68b0ab656724023ff302d3963cbbf01</anchor>
      <arglist>(int limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCrashLimitLinear</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>acfe0f64dff25cf53abc7824f6bff9d51</anchor>
      <arglist>(int limit_lin)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDYL</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>acad3c21151fdfc3d4ba96de49bd18358</anchor>
      <arglist>(TMotDYL _dyl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setInitialParameters</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a78460a751845d9ab8878b6912431b610</anchor>
      <arglist>(double angleOffset, double angleRange, int encodersPerCycle, int encoderOffset, int rotationDirection)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPositionCollisionLimit</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a726b7d8d41bdcdcd0f28ce53bc75c20a</anchor>
      <arglist>(int limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPwmLimits</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a39e20a392f33fdac6a1642c659d93ec1</anchor>
      <arglist>(byte maxppwm, byte maxnpwm)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSCP</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>af06800796d9045c7019c3041d274c5f6</anchor>
      <arglist>(TMotSCP _scp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSpeedCollisionLimit</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a1fc4a7c4e0b6bc39da29061668003c14</anchor>
      <arglist>(int limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSpeedLimit</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a5933a4969e35d68d0d45f51e010fee30</anchor>
      <arglist>(short velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSpeedLimits</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a53b0d756597b99de6292573457af7301</anchor>
      <arglist>(short positiveVelocity, short negativeVelocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTolerance</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a5b888b504b2461f55828e142ed404c17</anchor>
      <arglist>(int tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>waitForMotor</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>af7653527cb4ee6c5598efa91961c03c0</anchor>
      <arglist>(int tar, int encTolerance=100, short mode=0, int waitTimeout=TM_ENDLESS)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CMotBase</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a0fcdc1da04c25e6147ac409f91567fc2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotCLB</type>
      <name>_calibrationParameters</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a7df110e89c2f34bb8bacba4c9ee804df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotENL</type>
      <name>_encoderLimits</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a568551fd2c45b8da94abd9afa4eaa7b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotInit</type>
      <name>_initialParameters</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>af70dfb2e18a9cf41f4fae051a6a8d0c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotAPS</type>
      <name>aps</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ab0236abff7c0502724311bed0d3dcf07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>blocked</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>adfed1980c70b83892f3d6f12e70649f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotDYL</type>
      <name>dyl</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a3fb7810362426fdd48df72317be65427</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>freedom</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>ab9aebfbc3a429f560cd5dfba6ecc3fdb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotGNL</type>
      <name>gnl</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a94a3017f0c6195521f37c8284827f3d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CCplBase *</type>
      <name>protocol</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a19e4a6c8e319c2d815e07599092beace</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotPVP</type>
      <name>pvp</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a92b64310d3b990a7451a155ca75709aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotSCP</type>
      <name>scp</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a754dca6c5982077b6a2d80bd79c2cca0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotSFW</type>
      <name>sfw</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a1efaedeead0f850d1cf567a826d1ea1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TMotTPS</type>
      <name>tps</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>af2216347d8a7a4c39e007060a944bb2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>CKatBase</name>
      <anchorfile>classCMotBase.html</anchorfile>
      <anchor>a099603b3fbe6a04e3b0d667a5e4770f3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Computed_torque_method</name>
    <filename>classComputed__torque__method.html</filename>
    <member kind="function">
      <type></type>
      <name>Computed_torque_method</name>
      <anchorfile>classComputed__torque__method.html</anchorfile>
      <anchor>ae4cbdc07047114e8ec5542c36d3c442d</anchor>
      <arglist>(const short dof=1)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Computed_torque_method</name>
      <anchorfile>classComputed__torque__method.html</anchorfile>
      <anchor>a3404f4d72ff22346907bec685329ea73</anchor>
      <arglist>(const Robot_basic &amp;robot, const DiagonalMatrix &amp;Kp, const DiagonalMatrix &amp;Kd)</arglist>
    </member>
    <member kind="function">
      <type>short</type>
      <name>set_Kd</name>
      <anchorfile>classComputed__torque__method.html</anchorfile>
      <anchor>a0ff2f9bab37f6109d1177a7ca590b393</anchor>
      <arglist>(const DiagonalMatrix &amp;Kd)</arglist>
    </member>
    <member kind="function">
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      <anchor>aa3e414a904d06c115e674bab549f4625</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix</type>
      <name>I</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>afb1b314aa80555ec824b12930de4d169</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>Im</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a3b9cc068815e2ed3c32544e6aeb70c73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>immobile</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a34796ecd3080d1fbeb93fe101133d2da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>joint_offset</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a6d0e426c9f0f1fb536dd4f6fc27e471c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>joint_type</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a7dba13493186ca2eb1a6818cd03dad42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>m</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a2c06ca6a5fdac97d28444b730c53b203</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>mc</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a86a73240c6329b1687cdf0919658e1ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>min_para</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a200c9738934de0f9acd007198a94f02b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>p</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>ae2d19af251a8bf0f6689f26ba76c3267</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>r</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a9922113e1d120ccec7d9c50877a7727c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>theta</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a23c65c1803f895082296432a816db79a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>theta_max</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>ac8bbb03e1caa1cbdb5b86925d8e94b43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>theta_min</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>ac6f9447e4ffd84aa73bea8991671542c</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>mRobot</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>abd24a90049c2a9ab1abaa630c9ea5dfa</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>mRobot_min_para</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>adf83869bdec66068f5e2da8477c48232</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>Robot</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a9f34d4a840b0d3e73fc3185af5fed175</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>Robot_basic</name>
      <anchorfile>classLink.html</anchorfile>
      <anchor>a16f8db36dbb3afc4c5254aa023366068</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LinkStewart</name>
    <filename>classLinkStewart.html</filename>
    <member kind="function">
      <type>Real</type>
      <name>ActuationForce</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a3fa284bdef9963ce8401863c6693d4ab</anchor>
      <arglist>(const Matrix J1, const ColumnVector C, const int Index, const Real Gravity=GRAVITY)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>AxialForce</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a8bf44d342e0cf158bc5716010660285b</anchor>
      <arglist>(const Matrix J1, const ColumnVector C, const int Index)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>d_LTransform</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ab8c5bd148b410864fde5a82f09df67c3</anchor>
      <arglist>(const ColumnVector dq, const ColumnVector Omega, const Real dl, const Real ddl)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>dd_LTransform</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>aa0fea27a5313f2ccfa1f6f7c8c915332</anchor>
      <arglist>(const ColumnVector ddq, const ColumnVector Omega, const ColumnVector Alpha, const Real dl, const Real ddl)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_a</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a5557dbaea36ad3ab57038c0225d637ec</anchor>
      <arglist>(const Matrix _wRp, const ColumnVector _q)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_ACM1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a046a35be487530c7e5d8366b2a7d0866</anchor>
      <arglist>(const Real dl, const Real ddl)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_AngularKin</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a1126615f80647b5d10e2e9d001abb24d</anchor>
      <arglist>(const Real dl, const Real ddl)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_da</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a8ca8f51d433af9a6651e7a1d3e5cd385</anchor>
      <arglist>(const ColumnVector dq, const ColumnVector Omega)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_dda</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a861924f51bb4dfbfd81160b9598e69af</anchor>
      <arglist>(const ColumnVector ddq, const ColumnVector Omega, const ColumnVector Alpha)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>Find_Lenght</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a3700e859a13ef9a3672f15531773d095</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_N</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a2e181d8f3a59738b68df3c9d102cd657</anchor>
      <arglist>(const Real Gravity=GRAVITY)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_UnitV</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a0ace547c1d01581e56b4d150f6f09f77</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_VctC</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a27e347369ee42b3810a50cff3fd8b511</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_VctU</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ae41209a0443724947b5a3b92946aab29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Find_VctV</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a7f4a445879d681452e0599a8109acbe2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_ap</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a703033e2d4ac8649a3e8a861c8bac4fa</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_b</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a96f209dba5dcae22ee887e9c73456091</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_I1aa</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a04637ec2b5a4a1c1aae9290a2fdf61ca</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_I1nn</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a3307880e6b6832ee4d0c83189e71707f</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_I2aa</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>acf841223ca92c3a0a84f92109945a4b6</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_I2nn</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>afe3ce6fee441e0fbe9a6c49c83dca422</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_Lenght1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>adeb694b588046c1b42715f52cd752ecc</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_Lenght2</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a8338049780c47ca66704c55b1240ba3b</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_m1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a8559df7e9a13f8190efecedaf4f5fe02</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>get_m2</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a14b218b54adb42b2e26276e4ca082526</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LinkStewart</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a1cea26218ccb2e22851bc52564621f47</anchor>
      <arglist>(const ColumnVector &amp;InitLink, const Matrix wRp, const ColumnVector q)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LinkStewart</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a2a624692bf08d544b1201b612049965a</anchor>
      <arglist>(const LinkStewart &amp;x)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LinkStewart</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ace40bc5dbfb63465e1d8c00f6400b3d6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>LTransform</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a6ef1ce610c9008d1ad27771d78c4e90f</anchor>
      <arglist>(const Matrix wRp, const ColumnVector q)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Moment</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a5ec644352908fb51e1aa9f75d71263ad</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>NormalForce</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a8e73d10cf076fd1951719b3d4357b7eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const LinkStewart &amp;</type>
      <name>operator=</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a022ee11bcf543a5f06b0fef25deab48e</anchor>
      <arglist>(const LinkStewart &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_ap</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a3783039c08ea2fb4f057c9635d79b0bf</anchor>
      <arglist>(const ColumnVector NewAp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_b</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>aeb5f81df6036abf320b8338b06de8cb6</anchor>
      <arglist>(const ColumnVector Newb)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_I1aa</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>aaade4052686f245c20a8e2bfccb482ac</anchor>
      <arglist>(const Real NewI1aa)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_I1nn</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a7fc1ae8726f81bf1357ce81690ec89fa</anchor>
      <arglist>(const Real NewI1nn)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_I2aa</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>af11cfb60de13480937297543c596fd57</anchor>
      <arglist>(const Real NewI2aa)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_I2nn</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a1242335b31edc82473d9e65e2d9cccea</anchor>
      <arglist>(const Real NewI2nn)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_Lenght1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a6059d0cbece0e5e66d1940a15c2e60d4</anchor>
      <arglist>(const Real NewLenght1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_Lenght2</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a2e6f618f995bd9953ad7ffcb329b022a</anchor>
      <arglist>(const Real NewLenght2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_m1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a581bd9f51301d748e05acc8c733c7aa1</anchor>
      <arglist>(const Real Newm1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_m2</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a89ae925d9ad00040074156e902766fd2</anchor>
      <arglist>(const Real Newm2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>tau_LTransform</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>aa210d048cba46e49745fdb593683139a</anchor>
      <arglist>(const Real dl, const Real ddl, const Real Gravity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~LinkStewart</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a1b8a213a5fc3b09c3eeff06347aa998a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>ACM1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a29d27925ea49e9c6532cdda742c0a181</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>aPos</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a17b313ebcfa2dd257cf5300aaa98fb98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>da</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>abeb3a5d497420cc7d185a50c7a084b4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>dda</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a38a75c733bd5d5442a194052fbbd70e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>gravity</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ab34cd54c5123b5d1c8ca17e43eb001d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Real</type>
      <name>L</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>aa86274e64e3fafa0e0565ef144675f90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>LAlpha</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a2bdf2e67f2fe17e1f811bc84c3fc86ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>LOmega</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ae15cd9d63e00db33cf98797d570126f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>M</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a41d58809e66fd1aa8e7f6290de1d4ea5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>N</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ab6fd214d35106fee58b749be921860d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>UnitV</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a247f12c5e3f919b4d6cf6a9408cbbbb8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>Vc</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ad680f444eefd2baf4b76af0c876a9371</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>Vu</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ad74e0d66389a1ee707d16a67af71cac2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector</type>
      <name>Vv</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a335df653cad22d167b50b5e2e289ca22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>ap</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>abba7737769d12f3fcf1bad655c831216</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>b</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a9db9d00b4d7b88f037a0182d07f6cc1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>I1aa</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a6a5fcb2b1f8055f07c952a470bf9ff0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>I1nn</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a366b6a2e4ac45bde340caf0ad00e1851</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>I2aa</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a65403879b88400567a1e55ddca3f3cbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>I2nn</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a563caccf431f100fec6e32cf6b0225fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>Lenght1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a08167db4c444b7a14af91b5d7e2cecca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>Lenght2</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>acb0f6c533c2ac958f4b1551e58e4f377</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>m1</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a1d4647c6d1ab7ce7aaab5d7316a680c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Real</type>
      <name>m2</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>ab867542761b82e655d923aed45723d4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>Stewart</name>
      <anchorfile>classLinkStewart.html</anchorfile>
      <anchor>a53fc1cac82a9c23b31fad948d3b79e80</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Logic_error</name>
    <filename>classLogic__error.html</filename>
    <base>BaseException</base>
    <member kind="variable" static="yes">
      <type>static unsigned long</type>
      <name>Select</name>
      <anchorfile>classLogic__error.html</anchorfile>
      <anchor>a75efea58e981e02117df8c60fc2b7257</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Logic_error</name>
      <anchorfile>classLogic__error.html</anchorfile>
      <anchor>a8ebe36bc99c7e80f23b5f1ef4d1510be</anchor>
      <arglist>(const char *a_what=0)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Model_3pe</name>
    <filename>classModel__3pe.html</filename>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>Derivatives</name>
      <anchorfile>classModel__3pe.html</anchorfile>
      <anchor>a2b665c06c033d60364ebc4d14ed3f05b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsValid</name>
      <anchorfile>classModel__3pe.html</anchorfile>
      <anchor>a89ed75f468bf008647f1fd1ff8af607d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Model_3pe</name>
      <anchorfile>classModel__3pe.html</anchorfile>
      <anchor>ae8bf015434dee0b6b5a81839c269af37</anchor>
      <arglist>(const ColumnVector &amp;X_Values)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>operator()</name>
      <anchorfile>classModel__3pe.html</anchorfile>
      <anchor>aa6364b4b037f1abd64077b25746280f2</anchor>
      <arglist>(int)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RowVector</type>
      <name>deriv</name>
      <anchorfile>classModel__3pe.html</anchorfile>
      <anchor>ad0574b9c91b3c2cb027620c907b7708e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>x_values</name>
      <anchorfile>classModel__3pe.html</anchorfile>
      <anchor>a0016fb63791c5dec2dbb670765197a72</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotorCrashException</name>
    <filename>classMotorCrashException.html</filename>
    <base>Exception</base>
    <member kind="function">
      <type></type>
      <name>MotorCrashException</name>
      <anchorfile>classMotorCrashException.html</anchorfile>
      <anchor>a381b18da8f4000bc6b95a4bf6c39cf3a</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotorOutOfRangeException</name>
    <filename>classMotorOutOfRangeException.html</filename>
    <base>Exception</base>
    <member kind="function">
      <type></type>
      <name>MotorOutOfRangeException</name>
      <anchorfile>classMotorOutOfRangeException.html</anchorfile>
      <anchor>a7fb8279d22a15bf9a10867d9219974e4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MotorTimeoutException</name>
    <filename>classMotorTimeoutException.html</filename>
    <base>Exception</base>
    <member kind="function">
      <type></type>
      <name>MotorTimeoutException</name>
      <anchorfile>classMotorTimeoutException.html</anchorfile>
      <anchor>a5a8642951032c60d719382b2f12a665c</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mRobot</name>
    <filename>classmRobot.html</filename>
    <base>Robot_basic</base>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>C</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a93d909c1ff111f3b2f47ce9301dd03c7</anchor>
      <arglist>(const ColumnVector &amp;qp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>delta_torque</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a515bbd13610d4cd07e6dab6d2fecb6c5</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;dq, const ColumnVector &amp;dqp, const ColumnVector &amp;dqpp, ColumnVector &amp;torque, ColumnVector &amp;dtorque)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dq_torque</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a038870b0d6b8d3abb0a7eabc2b1fe3d6</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;dq, ColumnVector &amp;torque, ColumnVector &amp;dtorque)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dqp_torque</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a4b7cca9654ea2e09f25090991baa2b85</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;dqp, ColumnVector &amp;torque, ColumnVector &amp;dtorque)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dTdqi</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a909fbd972c9e5d6c08203039f23ee3d8</anchor>
      <arglist>(Matrix &amp;dRot, ColumnVector &amp;dp, const int i)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>dTdqi</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a700dd0f221b051d8a7950064958f1a9a</anchor>
      <arglist>(const int i)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>G</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a5b8878f4d0ce37bb1f5d2c4f356b1f44</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a2d07df63af051b0974dfa3691bca07a6</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj=0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a47f50a7ffd284e2e7e4a4c9ffaef732d</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj, const int endlink, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_puma</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a021045a02322d88a000b5bc363902495</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_rhino</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a3268f402a37193f73b100e039870236d</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_schilling</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>aec3a8975039a05b634f2dcfe845b53e2</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>aebbd298af32c4244699868f7e7aebdfe</anchor>
      <arglist>(const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a051c3f40ebe5c91ad15775f3f13529e8</anchor>
      <arglist>(const int endlink, const int ref) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian_dot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a030a779cbf03583eae3f184596913776</anchor>
      <arglist>(const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>kine_pd</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a39f9b830263fa2816414bfa6b6f2476d</anchor>
      <arglist>(Matrix &amp;Rot, ColumnVector &amp;pos, ColumnVector &amp;pos_dot, const int ref) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>af67f5cf3ff0c45ea2192f9974f3fb2bf</anchor>
      <arglist>(const int ndof=1)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a3df343d74135c07f46a30c9cd163b3af</anchor>
      <arglist>(const Matrix &amp;initrobot_motor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a47d3707d8d6542246c89b28e058e7d14</anchor>
      <arglist>(const Matrix &amp;initrobot, const Matrix &amp;initmotor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a15f51ffd73fef27105d70ce0abd62ac8</anchor>
      <arglist>(const mRobot &amp;x)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>ac544a3baa21a0d15d346ed0c680636fa</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;robotName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>robotType_inv_kin</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a3608276ed09a7083ba3742c80d59c9a8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>torque</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>a655ea0ad1610ee50e9da6410d10efa3b</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>torque</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>ad28b14b27249274008b2cb78a4c3c277</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;Fext_, const ColumnVector &amp;Next_)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>torque_novelocity</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>ace1102a55a178e27ebf193421a783a3c</anchor>
      <arglist>(const ColumnVector &amp;qpp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~mRobot</name>
      <anchorfile>classmRobot.html</anchorfile>
      <anchor>aceea53f65623958828a09bda45a04885</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mRobot_min_para</name>
    <filename>classmRobot__min__para.html</filename>
    <base>Robot_basic</base>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>C</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a6c922d289972888746b40bc89b4daf19</anchor>
      <arglist>(const ColumnVector &amp;qp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>delta_torque</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a7defa2bfc65643216e1fd112e538d347</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;dq, const ColumnVector &amp;dqp, const ColumnVector &amp;dqpp, ColumnVector &amp;torque, ColumnVector &amp;dtorque)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dq_torque</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a60063cde3c45d75024a088dc9fc78a7f</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;dq, ColumnVector &amp;torque, ColumnVector &amp;dtorque)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dqp_torque</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>aa63b6a2f7abe6e6fda333f9ce7fd78cd</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;dqp, ColumnVector &amp;torque, ColumnVector &amp;dtorque)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dTdqi</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a07cd81a51e34737656d99ea8b9ac042f</anchor>
      <arglist>(Matrix &amp;dRot, ColumnVector &amp;dp, const int i)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>dTdqi</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a18afbf450287719a5a1c22a6262c4b0a</anchor>
      <arglist>(const int i)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>G</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a8cfec5481249d2a8a6b273ab1f188964</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a534e9899d1253b2ad97b20170ceeb4a1</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj=0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a9561fc72f6b5894149572ab4a938ccee</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj, const int endlink, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_puma</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a82ce84410ccb46043c67854c82a8b060</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_rhino</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a5cb06a19848bd5a673a54f92eb5c98e3</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_schilling</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>aed72a2b2d9ebfa9e877ff5d5873e1db5</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>adc30249aff7b4e82fa27742447ff5d15</anchor>
      <arglist>(const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a46bb668a658be90b2a02009275963b8b</anchor>
      <arglist>(const int endlink, const int ref) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian_dot</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a8c83dd4712023461b87b06b020e0935d</anchor>
      <arglist>(const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>kine_pd</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>ac094c28ff4823a1cf5fe57cdc4da6e3f</anchor>
      <arglist>(Matrix &amp;Rot, ColumnVector &amp;pos, ColumnVector &amp;pos_dot, const int ref=0) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot_min_para</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a4b42ebb2f7155d7a4d0ea0ec56e1f83c</anchor>
      <arglist>(const int ndof=1)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot_min_para</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a5f02401632fd134a8f40a3a4c2a770dd</anchor>
      <arglist>(const Matrix &amp;dhinit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot_min_para</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>af226375c565e52c30d50d05aa8c5b5a3</anchor>
      <arglist>(const Matrix &amp;initrobot, const Matrix &amp;initmotor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot_min_para</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a7cde63070ef236958e14f2f59340953a</anchor>
      <arglist>(const mRobot_min_para &amp;x)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>mRobot_min_para</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a6bd77e66dfafc733a894f35a48c26b3c</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;robotName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>robotType_inv_kin</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a05bd9e6311d45008f6fa71e190ea9f5e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>torque</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a267da63d3958ccde56d649de4c79c0af</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>torque</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>ad60d9005f7b78ea8c4449eab33555685</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;Fext_, const ColumnVector &amp;Next_)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>torque_novelocity</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a5792d5f5b54720d7044c38ce52505cd1</anchor>
      <arglist>(const ColumnVector &amp;qpp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~mRobot_min_para</name>
      <anchorfile>classmRobot__min__para.html</anchorfile>
      <anchor>a28a6387a7eb7a8d64e80963a5e3c6583</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>MultWithCarry</name>
    <filename>classMultWithCarry.html</filename>
    <member kind="function">
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>Kpp</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>aee201daf77cbea2865a4e057fbbafae9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>Kvo</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a8d2fd80c42e46dbe3277b11c828f444c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>Kvp</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>aad1287df629cc515fe064c6d6169ff58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>p</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a8980d6b05da0302874b30fe7ad3bbb52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>pp</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a818f53f4882652286cddcd8864cca55a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>qp</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>ab69fbf0dd2eb22099b832597638e500c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>qpp</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a6f92012c4625ddb1dd237c0824a558ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Quaternion</type>
      <name>quat</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a6402f65f1f24beb9b224f4242e4cdfc0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>quat_v_error</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a5e0c0d11d8a6e6b7142d8a343300b104</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Matrix</type>
      <name>Rot</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>abfdf7ab33a347f81879e3c795f0a242c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ColumnVector</type>
      <name>zero3</name>
      <anchorfile>classResolved__acc.html</anchorfile>
      <anchor>a6489071f497fe3049c55df548ee01542</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Robot_basic</name>
    <filename>classRobot__basic.html</filename>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>acceleration</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a5edbad0a0bffbed776afb328206cdcd4</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;tau)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>acceleration</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a865817e42db7ec749d5a819bc5b700b9</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;tau, const ColumnVector &amp;Fext, const ColumnVector &amp;Next)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>C</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a1e37deaa119d4f5e7b18932735333868</anchor>
      <arglist>(const ColumnVector &amp;qp)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>delta_torque</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a6afd305b0d17209e0448eb3f3121f470</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;dq, const ColumnVector &amp;dqp, const ColumnVector &amp;dqpp, ColumnVector &amp;torque, ColumnVector &amp;dtorque)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>dq_torque</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>acfa95d348968dc3c7affebfae3e65c30</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;dq, ColumnVector &amp;torque, ColumnVector &amp;dtorque)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>dqp_torque</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aee603fa8771054ebfaba980712c8a741</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;dqp, ColumnVector &amp;torque, ColumnVector &amp;dtorque)=0</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>dtau_dq</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a65c30fb30e68b113e4cc85e786598578</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>dtau_dqp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ad3a6607d9e01402789dd7a49e5eeda38</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>dTdqi</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aee8b99e9020873723fe72f05eedbfa5e</anchor>
      <arglist>(Matrix &amp;dRot, ColumnVector &amp;dp, const int i)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>dTdqi</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ac7a9c7c8a31a1fe5614e4fbf238b8449</anchor>
      <arglist>(const int i)=0</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>error</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a25c0625af94003dc17e762967a02f32c</anchor>
      <arglist>(const std::string &amp;msg1) const </arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>G</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a74064c548d01a81b93e6bfcc3dffcaa4</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>get_available_dof</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aa6f1d8f89c2cd5021131edb47bda8ac4</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>get_available_dof</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a08ab3475f5ecfdff94bd9ba1a2d6aad9</anchor>
      <arglist>(const int endlink) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_available_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a43dc9428d894216715a2ffdb6a1f790c</anchor>
      <arglist>(void) const </arglist>
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    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_available_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>acd4811dc0769bde43c1bc6579ac4361e</anchor>
      <arglist>(const int endlink) const </arglist>
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    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_available_qp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ad3d45f65810b75cdd7627d9f4622baac</anchor>
      <arglist>(void) const </arglist>
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    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_available_qp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aa1a362cbc8f0b31e4b94a1a1c24d770e</anchor>
      <arglist>(const int endlink) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_available_qpp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aad7f4f159f948e1bbae35a14c203a6a3</anchor>
      <arglist>(void) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_available_qpp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ab0ce2c69249a4ad30df95609f74a0edb</anchor>
      <arglist>(const int endlink) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>get_DH</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a4f143b84b6ffdb98b2babe49197a545d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>get_dof</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a0b5242db1b98359c8b3fb3f47d13074f</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>int</type>
      <name>get_fix</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a0bac780586c5c364dbf5625bc28a432d</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>Real</type>
      <name>get_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a44947cf921d36058b6ec46f1956c7bfd</anchor>
      <arglist>(const int i) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a6060c641c568d50d87ff4095c9ced407</anchor>
      <arglist>(void) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_qp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a8cd98afe705d792402230011b33f56cf</anchor>
      <arglist>(void) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>get_qpp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a130e3ed71c1f817c34d3f1e092329eab</anchor>
      <arglist>(void) const </arglist>
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    <member kind="function">
      <type>ReturnMatrix</type>
      <name>inertia</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a412aaf376d8d3974d906bd2c360ec9f7</anchor>
      <arglist>(const ColumnVector &amp;q)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a928df657ab93f62bc092799e6d1c42cd</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj=0)</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ab581a3a72965cf65492d25562fa83531</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a873f39d5ac2f9f598b1541eefeff2f32</anchor>
      <arglist>(const Matrix &amp;Tobj, const int mj, const int endlink, bool &amp;converge)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_puma</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a16456a74a586b6bd1fbe6b52788b9ec3</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_rhino</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a5c38861c491a0d09435072fc31dd65d9</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>inv_kin_schilling</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>af5d8647dcc0a578d15562e31fad1fa37</anchor>
      <arglist>(const Matrix &amp;Tobj, bool &amp;converge)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ReturnMatrix</type>
      <name>jacobian</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aa1ce9b413530bbf7a074d7632ad08e20</anchor>
      <arglist>(const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>jacobian</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a6ca1ef706197ea117fe46eeea5e5b40a</anchor>
      <arglist>(const int endlink, const int ref) const =0</arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>jacobian_DLS_inv</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a079b796a8789f6252e01ead325cb5bb5</anchor>
      <arglist>(const double eps, const double lambda_max, const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>jacobian_dot</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a4f626e17f60ff2a80627f41f693748b8</anchor>
      <arglist>(const int ref=0) const =0</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>kine</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a03cfedf7b5a857338593309a423e7db6</anchor>
      <arglist>(Matrix &amp;Rot, ColumnVector &amp;pos) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>kine</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ad7dde3f2334f6a69e358969d7a02b8a1</anchor>
      <arglist>(Matrix &amp;Rot, ColumnVector &amp;pos, const int j) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>kine</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a9ce540125324caaafe69a4ab889e463d</anchor>
      <arglist>(void) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>kine</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a20d55bb31a61920bbb7d95288cf0891c</anchor>
      <arglist>(const int j) const </arglist>
    </member>
    <member kind="function">
      <type>ReturnMatrix</type>
      <name>kine_pd</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a99e7e92bfe561222ab4f8bc6a07546ae</anchor>
      <arglist>(const int ref=0) const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>kine_pd</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a604ecfa9b48b56494762c07b4d0ed75e</anchor>
      <arglist>(Matrix &amp;Rot, ColumnVector &amp;pos, ColumnVector &amp;pos_dot, const int ref) const =0</arglist>
    </member>
    <member kind="function">
      <type>Robot_basic &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a9ced33c9051ef855818d53abae5e4d54</anchor>
      <arglist>(const Robot_basic &amp;x)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Robot_basic</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ae3a90feb9825d0888aba2c00500ff631</anchor>
      <arglist>(const int ndof=1, const bool dh_parameter=false, const bool min_inertial_para=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Robot_basic</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>ac57f421f7bb88654e0ce3af0cab0e1dc</anchor>
      <arglist>(const Matrix &amp;initrobot_motor, const bool dh_parameter=false, const bool min_inertial_para=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Robot_basic</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a4890107b4e0018b4333c742d107d6ba6</anchor>
      <arglist>(const Matrix &amp;initrobot, const Matrix &amp;initmotor, const bool dh_parameter=false, const bool min_inertial_para=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Robot_basic</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a5513956384a2373b62cce672263b8eac</anchor>
      <arglist>(const std::string &amp;filename, const std::string &amp;robotName, const bool dh_parameter=false, const bool min_inertial_para=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Robot_basic</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a27be006f4145f7a8f356cfa3471deb0a</anchor>
      <arglist>(const Robot_basic &amp;x)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>robotType_inv_kin</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>aba224f80b54431346a0cc9520edc03a7</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a89314198ba50ae02c6035fbf36268d19</anchor>
      <arglist>(const ColumnVector &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a39f5d55061ac9f2193a677e618a943b6</anchor>
      <arglist>(const Matrix &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_q</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a9bcd25afb77e8f4c512fe1d69b9d9338</anchor>
      <arglist>(const Real q, const int i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_qp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a2a145d77462cebf5cfd7b0f37e8f9478</anchor>
      <arglist>(const ColumnVector &amp;qp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_qpp</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a84cdda01a3c99c8573ab51b246c0b0ff</anchor>
      <arglist>(const ColumnVector &amp;qpp)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>torque</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a7b4cddb7e62786c21f8ae75c21dcc6ce</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>torque</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a822a7944a554ef959fde6b7dd736046e</anchor>
      <arglist>(const ColumnVector &amp;q, const ColumnVector &amp;qp, const ColumnVector &amp;qpp, const ColumnVector &amp;Fext_, const ColumnVector &amp;Next_)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ReturnMatrix</type>
      <name>torque_novelocity</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a5c1df2acb35e83f3683703fe7f741c08</anchor>
      <arglist>(const ColumnVector &amp;qpp)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Robot_basic</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a466dcd5d7ce7c6078a5b6485672f2abc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector *</type>
      <name>a</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a1eff5af05d394491f3337daf0e0a2df1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector *</type>
      <name>da</name>
      <anchorfile>classRobot__basic.html</anchorfile>
      <anchor>a594b8350fef0a59129cd86f5fd3f0043</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ColumnVector *</type>
      <name>df</name>
      <anchorfile>classRobot__basic.html</anchorfile>
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