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      <arglist>()</arglist>
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      <arglist>(const CLIKPlannerDynamicConfig &amp;config)</arglist>
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      <arglist>(planning_interface::MotionPlanResponse &amp;res) override=0</arglist>
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      <arglist>(planning_interface::MotionPlanDetailedResponse &amp;res) override=0</arglist>
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      <arglist>(Constraint *constraint, ConstraintTypes constraint_type)</arglist>
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      <arglist>(const std::string &amp;parameter_name)</arglist>
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      <arglist>(const Eigen::MatrixXd &amp;J) const </arglist>
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      <type>virtual bool</type>
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      <arglist>(const Eigen::Affine3d &amp;goal, const Eigen::VectorXd &amp;joint_seed, Eigen::VectorXd &amp;joint_angles) const </arglist>
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      <type>virtual bool</type>
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      <arglist>(const Eigen::Affine3d &amp;goal, const Eigen::VectorXd &amp;joint_seed, const planning_scene::PlanningSceneConstPtr planning_scene, Eigen::VectorXd &amp;joint_angles) const </arglist>
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      <arglist>(const Eigen::MatrixXd &amp;J) const </arglist>
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      <arglist>(const Eigen::MatrixXd &amp;A) const </arglist>
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      <arglist>()</arglist>
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      <arglist>(std::vector&lt; std::string &gt; &amp;names) const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(std::vector&lt; std::string &gt; &amp;names) const </arglist>
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      <type>virtual ConstrainedIKConfiguration</type>
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      <arglist>() const </arglist>
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      <arglist>(const basic_kin::BasicKin &amp;kin)</arglist>
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      <type>bool</type>
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      <arglist>() const </arglist>
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      <type>virtual bool</type>
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      <arglist>(const Eigen::VectorXd &amp;joints, std::vector&lt; KDL::Frame &gt; &amp;poses, const std::vector&lt; std::string &gt; link_names=std::vector&lt; std::string &gt;()) const </arglist>
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      <arglist>()</arglist>
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      <type>virtual unsigned int</type>
      <name>numJoints</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>setSolverConfiguration</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
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      <arglist>(const ConstrainedIKConfiguration &amp;config)</arglist>
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      <type>static double</type>
      <name>rangedAngle</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
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      <arglist>(double angle)</arglist>
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      <type>virtual SolverStatus</type>
      <name>checkStatus</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
      <anchor>a3a1987302c8bd8007e7626498ad98ab1</anchor>
      <arglist>(const constrained_ik::SolverState &amp;state, const constrained_ik::ConstraintResults &amp;primary, const constrained_ik::ConstraintResults &amp;auxiliary) const </arglist>
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      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
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      <arglist>(Eigen::VectorXd &amp;joints) const </arglist>
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      <type>virtual constrained_ik::ConstraintResults</type>
      <name>evalConstraint</name>
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      <anchor>a8ed08f8c4e96fc8aabe7f14036e56887</anchor>
      <arglist>(constraint_types::ConstraintTypes constraint_type, const constrained_ik::SolverState &amp;state) const </arglist>
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      <type>virtual constrained_ik::SolverState</type>
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      <anchor>a35794335cda55f421482a2e7273d8a9a</anchor>
      <arglist>(const Eigen::Affine3d &amp;goal, const Eigen::VectorXd &amp;joint_seed) const </arglist>
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      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
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      <arglist>(constrained_ik::SolverState &amp;state, const Eigen::VectorXd &amp;joints) const </arglist>
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      <type>ConstraintGroup</type>
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      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
      <anchor>ae48d474330621a3ceab167a85e691f90</anchor>
      <arglist></arglist>
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      <type>ConstrainedIKConfiguration</type>
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      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
      <anchor>ac8363c1bd6d43cf974484faebe81148d</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
      <anchor>aea8d1b1722b458cc4d4835f87e339ffe</anchor>
      <arglist></arglist>
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      <type>basic_kin::BasicKin</type>
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      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
      <anchor>a451db6fff3c7de4282d09ed6dbdb3d82</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
      <anchor>af509216c11123595f8b649f8ea55bf61</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ConstraintGroup</type>
      <name>primary_constraints_</name>
      <anchorfile>classconstrained__ik_1_1Constrained__IK.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>bool</type>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
      <name>auxiliary_max_motion</name>
      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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    <member kind="variable">
      <type>bool</type>
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>primary_gain</name>
      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>primary_max_motion</name>
      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
      <anchor>ad8efd831a171ca31571219ffbefc8f84</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>structconstrained__ik_1_1ConstrainedIKConfiguration.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <name>solver_min_iterations</name>
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      <arglist></arglist>
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  <compound kind="class">
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    <filename>classconstrained__ik_1_1ConstrainedIKPlugin.html</filename>
    <base>kinematics::KinematicsBase</base>
    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>ae5f219d5c17676e3fcb9854774a54fb1</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>aec1919813a0adea59ce280a0a6e10184</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionFK</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a92ed4de428b5546a7b5048b72f64521d</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>ae36881c4811c948db5ac5171cb43ef00</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>ad710ba0522d070db084678cc10261f7b</anchor>
      <arglist>(const std::string &amp;robot_description, const std::string &amp;group_name, const std::string &amp;base_name, const std::string &amp;tip_name, double search_discretization) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isActive</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a689678587cd65b7ad5144242f0d65e0d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a918c68d7181092a63585184c2d1ef4b0</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a229ed6050ec5dd944063ce68554bb489</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>ab2d36353355cc167bc8bda866b12b830</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>aeaae0809ef3530eabb36d181629e6302</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>active_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a24d833c6715935394b26ffaadfdee38b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>dimension_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>ac8d9fd8d900f74cd96d09c5785c1c7b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a1b3a5f0d9bd111b7c171d65f1f26405f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>basic_kin::BasicKin</type>
      <name>kin_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>aa9d4ecac9d7d2ad3fa992c32bebd15cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::string &gt;</type>
      <name>link_names_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a97997ace93b4878d8e2201c51c3ab332</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>planning_scene::PlanningScenePtr</type>
      <name>planning_scene_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a73fc3faeb34152f1846f3b4b0a1b36d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>robot_model::RobotModelPtr</type>
      <name>robot_model_ptr_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>ae5300858667d9eaa20be25717e7ea778</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>moveit::core::RobotStatePtr</type>
      <name>robot_state_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>aade9293a995ac81b1faa53244dd60f40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; Constrained_IK &gt;</type>
      <name>solver_</name>
      <anchorfile>classconstrained__ik_1_1ConstrainedIKPlugin.html</anchorfile>
      <anchor>a3a86406a56c29df972eb6203bbf8464e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>constrained_ik::Constraint</name>
    <filename>classconstrained__ik_1_1Constraint.html</filename>
    <class kind="struct">constrained_ik::Constraint::ConstraintData</class>
    <member kind="function" virtualness="pure">
      <type>virtual constrained_ik::ConstraintResults</type>
      <name>evalConstraint</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>abaf04a44b65b2f47ebbd634bddb6329b</anchor>
      <arglist>(const SolverState &amp;state) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>a79eeec4cec61e20504cad937a183b640</anchor>
      <arglist>(const Constrained_IK *ik)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>loadParameters</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>a7ca815e95bda2e94b2ee9496378edfd9</anchor>
      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDebug</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>a186c542e28f8228d3401da9283202e09</anchor>
      <arglist>(bool debug=true)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual int</type>
      <name>numJoints</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>ac468bc410024fbb2c27af728d2d47bad</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>debug_</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>a253949ea2538332eec48e615148c5aa2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const Constrained_IK *</type>
      <name>ik_</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>a2a15bf254d955bec526ae388c39a718b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classconstrained__ik_1_1Constraint.html</anchorfile>
      <anchor>a2f7c10da2ea459a4d920ef0bfb390240</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>constrained_ik::Constraint::ConstraintData</name>
    <filename>structconstrained__ik_1_1Constraint_1_1ConstraintData.html</filename>
    <member kind="function">
      <type></type>
      <name>ConstraintData</name>
      <anchorfile>structconstrained__ik_1_1Constraint_1_1ConstraintData.html</anchorfile>
      <anchor>a7b4d24816e22fe2e0365c5d1e56b187e</anchor>
      <arglist>(const constrained_ik::SolverState &amp;state)</arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW SolverState</type>
      <name>state_</name>
      <anchorfile>structconstrained__ik_1_1Constraint_1_1ConstraintData.html</anchorfile>
      <anchor>aec88660f0dc5f2acbdd52d0cd67ff86a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>constrained_ik::ConstraintGroup</name>
    <filename>classconstrained__ik_1_1ConstraintGroup.html</filename>
    <base>constrained_ik::Constraint</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>add</name>
      <anchorfile>classconstrained__ik_1_1ConstraintGroup.html</anchorfile>
      <anchor>a93f9d1ff128f7c4edf5579e71df7d6d5</anchor>
      <arglist>(Constraint *constraint)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>clear</name>
      <anchorfile>classconstrained__ik_1_1ConstraintGroup.html</anchorfile>
      <anchor>aa335e7a53b2e757088297f9ee44de3de</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>empty</name>
      <anchorfile>classconstrained__ik_1_1ConstraintGroup.html</anchorfile>
      <anchor>adb141e7111fb235c77417c2c2548a07f</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>ConstraintResults</type>
      <name>evalConstraint</name>
      <anchorfile>classconstrained__ik_1_1ConstraintGroup.html</anchorfile>
      <anchor>a1ba0f4c252b24380d2334b827415d9ab</anchor>
      <arglist>(const SolverState &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>init</name>
      <anchorfile>classconstrained__ik_1_1ConstraintGroup.html</anchorfile>
      <anchor>aef16e8e70586e5a955184362154109f9</anchor>
      <arglist>(const Constrained_IK *ik) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::ptr_vector&lt; Constraint &gt;</type>
      <name>constraints_</name>
      <anchorfile>classconstrained__ik_1_1ConstraintGroup.html</anchorfile>
      <anchor>af8730b7a25b38695d2e0fed4ab5e0d30</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>constrained_ik::ConstraintResults</name>
    <filename>classconstrained__ik_1_1ConstraintResults.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>append</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>a4f0a595a631a9fd60862629670804a30</anchor>
      <arglist>(const ConstraintResults &amp;cdata)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isEmpty</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>afdb7c5652647f05568d8179edcdff9cf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Eigen::VectorXd</type>
      <name>error</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>ad16f91aec7fb358fc92ba898963f2e65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>a6c5423c8fd78bb3420b6f907542244ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>status</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>a400f4b9ea43a185e990d12af90a31a04</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>appendError</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>a6e5a1dd0be3b3792d35a18c19e035c9c</anchor>
      <arglist>(const Eigen::VectorXd &amp;addError)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>appendJacobian</name>
      <anchorfile>classconstrained__ik_1_1ConstraintResults.html</anchorfile>
      <anchor>a269bec85c64c03c65a6236645530503b</anchor>
      <arglist>(const Eigen::MatrixXd &amp;addJacobian)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>constrained_ik::JointInterpolationPlanner</name>
    <filename>classconstrained__ik_1_1JointInterpolationPlanner.html</filename>
    <base>constrained_ik::CLIKPlanningContext</base>
    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>a021d39ca91d93a8c5a7e28bfd2bd6513</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>JointInterpolationPlanner</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>ad4408d7be805af91cd144e9b6547e3e9</anchor>
      <arglist>(const std::string &amp;name, const std::string &amp;group)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointInterpolationPlanner</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>a24b71556b59a4e6682980405a3637f64</anchor>
      <arglist>(const JointInterpolationPlanner &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solve</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>aef79c0c06cf8553006fbd74c7097e252</anchor>
      <arglist>(planning_interface::MotionPlanResponse &amp;res) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solve</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>ae90ba0490e0037907df0dc9fb05a7b50</anchor>
      <arglist>(planning_interface::MotionPlanDetailedResponse &amp;res) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>terminate</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>a845c03dd345791180e5ce5cca7422f0a</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::atomic&lt; bool &gt;</type>
      <name>terminate_</name>
      <anchorfile>classconstrained__ik_1_1JointInterpolationPlanner.html</anchorfile>
      <anchor>ab99b9f84e23966c3d417ee6e2ecc6dca</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>constrained_ik::SolverState</name>
    <filename>structconstrained__ik_1_1SolverState.html</filename>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>afee86e83cc875fa855763bf10069c50e</anchor>
      <arglist>(const Eigen::Affine3d &amp;goal, const Eigen::VectorXd &amp;joint_seed)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverState</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a1c739ba8d477ef398f8ff487bf2f101d</anchor>
      <arglist>(const Eigen::Affine3d &amp;goal, const Eigen::VectorXd &amp;joint_seed)</arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>auxiliary_at_limit</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a162893ef5ada24e3f7c4151ed261ec81</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>auxiliary_sum</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>afdda3a6f820264631dc7dae7cebb31e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>collision_detection::CollisionRobotIndustrialConstPtr</type>
      <name>collision_robot</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a1699e2f8a7b504f24332d4503d6ce9cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>collision_detection::CollisionWorldIndustrialConstPtr</type>
      <name>collision_world</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a9d4420e905c54d3daf58568a343efd7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>initialization_state::InitializationState</type>
      <name>condition</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a16a53c6a32ca5d6c7506b0fbfdb31ce6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Affine3d</type>
      <name>goal</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a4dd52812afd1388142fab2d3a3b79b41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>group_name</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a5985e447024485e1c8f4448db6c00bac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>iter</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>afa37a95937e8dcb234bb391da09dbe66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>iteration_path</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a1def93495f6b2e828bc328832f9a40b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::VectorXd</type>
      <name>joint_seed</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>aa50716fa012573a34e0093448addd335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::VectorXd</type>
      <name>joints</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a88fe6b0098fbdc84d18da7d0f74578fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::VectorXd</type>
      <name>joints_delta</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a14cae2b862e094eecbb71cbd5b1ca85e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>planning_scene::PlanningSceneConstPtr</type>
      <name>planning_scene</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a5c152389f7b74fee8a9ac4ae34028560</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Affine3d</type>
      <name>pose_estimate</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a11fd6440de45a1248e55fa8a73d6ea46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>primary_sum</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>abaf4efeb1ce181a175963e9324706249</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>moveit::core::RobotStatePtr</type>
      <name>robot_state</name>
      <anchorfile>structconstrained__ik_1_1SolverState.html</anchorfile>
      <anchor>a9935645508e5c9a72d9aa1fc3515571b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>constrained_ik::basic_kin::BasicKin</name>
    <filename>classconstrained__ik_1_1basic__kin_1_1BasicKin.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>calcFwdKin</name>
      <anchorfile>classconstrained__ik_1_1basic__kin_1_1BasicKin.html</anchorfile>
      <anchor>a4e81c15f20b21536e80c53f66ba8f8d7</anchor>
      <arglist>(const Eigen::VectorXd &amp;joint_angles, Eigen::Affine3d &amp;pose) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>calcFwdKin</name>
      <anchorfile>classconstrained__ik_1_1basic__kin_1_1BasicKin.html</anchorfile>
      <anchor>a002016846b368d89fd0c0bb20bc3bf07</anchor>
      <arglist>(const Eigen::VectorXd &amp;joint_angles, const std::string &amp;base, const std::string &amp;tip, KDL::Frame &amp;pose) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>calcJacobian</name>
      <anchorfile>classconstrained__ik_1_1basic__kin_1_1BasicKin.html</anchorfile>
      <anchor>ab8665878bd321211b09bd312c4fd8cbd</anchor>
      <arglist>(const Eigen::VectorXd &amp;joint_angles, Eigen::MatrixXd &amp;jacobian) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkInitialized</name>
      <anchorfile>classconstrained__ik_1_1basic__kin_1_1BasicKin.html</anchorfile>
      <anchor>a57cc1eeae8fbc54d76383a5267d0f483</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
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      <arglist>(double weight)</arglist>
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      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml) override</arglist>
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      <arglist>(double weight)</arglist>
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      <type>virtual Eigen::VectorXd</type>
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      <arglist>(const GoalOrientationData &amp;cdata) const </arglist>
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      <arglist>(const GoalOrientationData &amp;cdata) const </arglist>
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      <arglist>(const GoalOrientationData &amp;cdata) const </arglist>
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      <arglist>(const SolverState &amp;state) const override</arglist>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml) override</arglist>
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      <arglist>(double tol)</arglist>
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      <arglist>(const Eigen::Vector3d &amp;weight)</arglist>
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      <arglist>(const Eigen::Affine3d &amp;p1, const Eigen::Affine3d &amp;p2)</arglist>
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      <arglist>(const Eigen::Affine3d &amp;p1, const Eigen::Affine3d &amp;p2)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const constrained_ik::SolverState &amp;state)</arglist>
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      <arglist></arglist>
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    <base>constrained_ik::ConstraintGroup</base>
    <member kind="function">
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      <arglist>(const Eigen::Vector3d &amp;weight_orientation)</arglist>
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      <arglist>(const Eigen::Vector3d &amp;weight_position)</arglist>
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      <type>GoalOrientation *</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>GoalPosition *</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>constrained_ik::Constraint</base>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::VectorXd</type>
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      <arglist>(const GoalPositionData &amp;cdata) const </arglist>
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      <arglist>(const GoalPositionData &amp;cdata) const </arglist>
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      <arglist>(const GoalPositionData &amp;cdata) const </arglist>
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      <arglist>(const SolverState &amp;state) const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getTolerance</name>
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      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector3d</type>
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      <arglist>() const </arglist>
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      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml) override</arglist>
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      <name>setTolerance</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalPosition.html</anchorfile>
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      <arglist>(const double &amp;tol)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>setWeight</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalPosition.html</anchorfile>
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      <arglist>(const Eigen::Vector3d &amp;weight)</arglist>
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      <name>calcDistance</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalPosition.html</anchorfile>
      <anchor>aa6f16c2c7c5de117c3e39fa19fa4d2c8</anchor>
      <arglist>(const Eigen::Affine3d &amp;p1, const Eigen::Affine3d &amp;p2)</arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Vector3d</type>
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      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalPosition.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
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    <base>constrained_ik::Constraint::ConstraintData</base>
    <member kind="function">
      <type></type>
      <name>GoalPositionData</name>
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      <arglist>(const constrained_ik::SolverState &amp;state)</arglist>
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    <member kind="variable">
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      <name>pos_err_</name>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>constrained_ik::constraints::GoalOrientation</base>
    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>calcError</name>
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      <arglist>(const GoalOrientationData &amp;cdata) const override</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalToolOrientation.html</anchorfile>
      <anchor>a146ee26992e13565a164309ea0ab07d9</anchor>
      <arglist>(const GoalOrientationData &amp;cdata) const override</arglist>
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    <member kind="function">
      <type>constrained_ik::ConstraintResults</type>
      <name>evalConstraint</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalToolOrientation.html</anchorfile>
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      <arglist>(const SolverState &amp;state) const override</arglist>
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  <compound kind="class">
    <name>constrained_ik::constraints::GoalToolPointing</name>
    <filename>classconstrained__ik_1_1constraints_1_1GoalToolPointing.html</filename>
    <base>constrained_ik::Constraint</base>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::VectorXd</type>
      <name>calcError</name>
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      <arglist>(const GoalToolPointingData &amp;cdata) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::MatrixXd</type>
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      <arglist>(const GoalToolPointingData &amp;cdata) const </arglist>
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      <arglist>(const GoalToolPointingData &amp;cdata) const </arglist>
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      <name>evalConstraint</name>
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      <anchor>a11d97b58ebc1c05f085a79f58f7d16b2</anchor>
      <arglist>(const SolverState &amp;state) const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getOrientationTolerance</name>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <name>getWeight</name>
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      <arglist>() const </arglist>
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      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml) override</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>setOrientationTolerance</name>
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      <arglist>(const double &amp;orientation_tolerance)</arglist>
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      <arglist>(const double &amp;position_tolerance)</arglist>
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      <name>setWeight</name>
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      <arglist>(const Eigen::Matrix&lt; double, 5, 1 &gt; &amp;weight)</arglist>
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      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Matrix&lt; double, 5, 5 &gt;</type>
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      <anchor>a17529f3b8d74d8e93398d9969ab5946e</anchor>
      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="function">
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      <name>GoalToolPointingData</name>
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      <arglist>(const constrained_ik::SolverState &amp;state)</arglist>
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    <member kind="variable">
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      <name>pos_err_</name>
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      <anchor>a24dc23f31a42b815daaec514477f7f3b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>constrained_ik::Constraint</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::VectorXd</type>
      <name>calcError</name>
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      <arglist>(const ConstraintData &amp;cdata) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::MatrixXd</type>
      <name>calcJacobian</name>
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      <anchor>a82410638867953bd780e97c5a2668099</anchor>
      <arglist>(const ConstraintData &amp;cdata) const </arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>(const ConstraintData &amp;cdata) const </arglist>
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    <member kind="function">
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      <name>evalConstraint</name>
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      <anchor>ac0beff0fe36909132ebfe654fbbfabc8</anchor>
      <arglist>(const SolverState &amp;state) const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getWeight</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalZeroJVel.html</anchorfile>
      <anchor>a5a9f8802d7262ecd3bf169409e415fdb</anchor>
      <arglist>() const </arglist>
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      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalZeroJVel.html</anchorfile>
      <anchor>a56bfc9afa989224d4f605ad955b8169d</anchor>
      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml) override</arglist>
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      <type>virtual void</type>
      <name>setWeight</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalZeroJVel.html</anchorfile>
      <anchor>a75a38282fc17400b7ca1f767fc7cb442</anchor>
      <arglist>(double weight)</arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>weight_</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1GoalZeroJVel.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>constrained_ik::constraints::JointVelLimits</name>
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    <base>constrained_ik::Constraint</base>
    <class kind="struct">constrained_ik::constraints::JointVelLimits::JointVelLimitsData</class>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::VectorXd</type>
      <name>calcError</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a50644ea61b02991947f70a950eb56940</anchor>
      <arglist>(const JointVelLimitsData &amp;cdata) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>acf21855c35a17ee1ed0813d15052a5b7</anchor>
      <arglist>(const JointVelLimitsData &amp;cdata) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkStatus</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a5ef1cbe318ff92a9f7d64c8ef70ceadd</anchor>
      <arglist>(const JointVelLimitsData &amp;cdata) const </arglist>
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    <member kind="function">
      <type>constrained_ik::ConstraintResults</type>
      <name>evalConstraint</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a3cbf75292e5d7c4356a8b29a0dfeda3f</anchor>
      <arglist>(const SolverState &amp;state) const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getTimestep</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>acbbcf2aa3fe8f6bf4afa9ce473c30c21</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getWeight</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a529936f09ebda23571966f3cf3491872</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a75dd1eeef1473930a7e7243fbbbe0dc0</anchor>
      <arglist>(const Constrained_IK *ik) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>loadParameters</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a8dc2dad70e4be7d8314bff2d9cac1371</anchor>
      <arglist>(const XmlRpc::XmlRpcValue &amp;constraint_xml) override</arglist>
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      <type>virtual void</type>
      <name>setTimestep</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>ab20f6dd6d4c85541283ed171d7cecebb</anchor>
      <arglist>(const double &amp;timestep)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setWeight</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a3a7d9328d55ef0e552e01aa74ba89584</anchor>
      <arglist>(const double &amp;weight)</arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>timestep_</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a665e7c6f311c4541486c066e7101c8a4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>vel_limits_</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
      <anchor>a8903f0bdf99565d306f46c47ba2e9550</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>weight_</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1JointVelLimits.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
    <name>constrained_ik::constraints::JointVelLimits::JointVelLimitsData</name>
    <filename>structconstrained__ik_1_1constraints_1_1JointVelLimits_1_1JointVelLimitsData.html</filename>
    <member kind="function">
      <type></type>
      <name>JointVelLimitsData</name>
      <anchorfile>structconstrained__ik_1_1constraints_1_1JointVelLimits_1_1JointVelLimitsData.html</anchorfile>
      <anchor>ac56ca07045d0ef1087991a0ef869d962</anchor>
      <arglist>(const constrained_ik::SolverState &amp;state, const constraints::JointVelLimits *parent)</arglist>
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    <member kind="variable">
      <type>Eigen::VectorXd</type>
      <name>jvel_</name>
      <anchorfile>structconstrained__ik_1_1constraints_1_1JointVelLimits_1_1JointVelLimitsData.html</anchorfile>
      <anchor>a7af50a4d27f1a9d91ed3c802f2d3dfda</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>limited_joints_</name>
      <anchorfile>structconstrained__ik_1_1constraints_1_1JointVelLimits_1_1JointVelLimitsData.html</anchorfile>
      <anchor>abf4fb068903cdd1673ea477bc1a7bc7d</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW const constraints::JointVelLimits *</type>
      <name>parent_</name>
      <anchorfile>structconstrained__ik_1_1constraints_1_1JointVelLimits_1_1JointVelLimitsData.html</anchorfile>
      <anchor>abb74b3433f3e4b30ffd30f547c370ff8</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>constrained_ik::constraints::ToolPosition</name>
    <filename>classconstrained__ik_1_1constraints_1_1ToolPosition.html</filename>
    <base>constrained_ik::constraints::GoalPosition</base>
    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>calcError</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1ToolPosition.html</anchorfile>
      <anchor>acc6cfaa775327ec3b150a05dbe76b455</anchor>
      <arglist>(const GoalPositionData &amp;cdata) const override</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1ToolPosition.html</anchorfile>
      <anchor>a84812b9efa43ffbafc712ad4dff65008</anchor>
      <arglist>(const GoalPositionData &amp;cdata) const override</arglist>
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    <member kind="function">
      <type>constrained_ik::ConstraintResults</type>
      <name>evalConstraint</name>
      <anchorfile>classconstrained__ik_1_1constraints_1_1ToolPosition.html</anchorfile>
      <anchor>aa4149043dedeed2243c10caba31ef5ef</anchor>
      <arglist>(const SolverState &amp;state) const override</arglist>
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    <title></title>
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    <docanchor file="index">Description</docanchor>
    <docanchor file="index">Examples</docanchor>
    <docanchor file="index">License</docanchor>
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