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      <arglist>(const std::vector&lt; double &gt; &amp;limArray_in)</arglist>
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      <anchorfile>classJointMotionLimiter.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(std::vector&lt; std::string &gt; &amp;jointNames_out, std::vector&lt; double &gt; &amp;velLimits_out, std::vector&lt; double &gt; &amp;accLimits_out)</arglist>
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      <anchorfile>classJointNameMotionLimiter.html</anchorfile>
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      <arglist>(const std::string &amp;jointName) const </arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames)</arglist>
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      <arglist>(boost::shared_ptr&lt; JointMotionLimiter &gt; motionLimiter_in)</arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames, const std::vector&lt; double &gt; &amp;velLimitArray_in, const std::vector&lt; double &gt; &amp;accLimitArray_in)</arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames, double velLim, double accLim)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(const std::string &amp;jointName) const </arglist>
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      <arglist>(const std::string &amp;jointName) const </arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::string &amp;jointName, double &amp;value) const </arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames)</arglist>
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      <arglist>(boost::shared_ptr&lt; JointPositionLimiter &gt; positionLimiter_in)</arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames, const std::vector&lt; double &gt; &amp;minPositionArray_in, const std::vector&lt; double &gt; &amp;maxPositionArray_in, const std::vector&lt; double &gt; &amp;maxVelocityArray_in)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(unsigned int index) const </arglist>
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      <anchorfile>classJointPositionLimiter.html</anchorfile>
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      <arglist>() const </arglist>
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      <anchorfile>classJointPositionLimiter.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>JointPositionLimiter</name>
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      <arglist>()</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;minLimits, const std::vector&lt; double &gt; &amp;maxLimits)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(const KDL::JntArray &amp;q, const KDL::JntArray &amp;q_dot, const KDL::JntArray &amp;q_dotdot, const KDL::Wrenches &amp;f_ext, KDL::JntArray &amp;torques, KDL::JntArray &amp;Hv)</arglist>
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      <arglist>(const KDL::Wrenches &amp;f_ext, KDL::JntArray &amp;torques, KDL::Wrench &amp;f_base, std::vector&lt; KDL::Wrench &gt; &amp;f, const KDL::RigidBodyInertia &amp;I_ext, const KDL::RigidBodyInertia &amp;I_seg, KDL::JntArray &amp;Hv, KDL::RigidBodyInertia &amp;I_base)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KdlChainIdRne</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
      <anchor>a57979e8fe8f38232baf0fb0da861ec3f</anchor>
      <arglist>(const KDL::Chain &amp;chain, const KDL::Twist &amp;v_base, const KDL::Twist &amp;a_base)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>KinematicsPass</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
      <anchor>aacaeaef921173fd797a2006d5aad86c5</anchor>
      <arglist>(const KDL::JntArray &amp;q, const KDL::JntArray &amp;q_dot, const KDL::JntArray &amp;q_dotdot, KDL::Twist &amp;v_out, KDL::Twist &amp;a_out)</arglist>
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    <member kind="function">
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      <name>~KdlChainIdRne</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
      <anchor>aadab0dc74a9b762cefa17dc1aca24dd6</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; KDL::Twist &gt;</type>
      <name>a</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
      <anchor>a1737f1ef359263b444f7dcf5931b5bc2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>KDL::Twist</type>
      <name>ab</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
      <anchor>ab1563f9fcfe226cebcaef40aed5d2d74</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>KDL::Chain</type>
      <name>chain</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>KDL::Wrench</type>
      <name>Fis</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
      <anchor>a472bbeb5650a6b895c5dc57a7aecef8c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; KDL::RigidBodyInertia &gt;</type>
      <name>Ii</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>ns</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; KDL::Twist &gt;</type>
      <name>S</name>
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      <arglist></arglist>
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      <type>std::vector&lt; KDL::Twist &gt;</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>KDL::Twist</type>
      <name>vb</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; KDL::Frame &gt;</type>
      <name>X</name>
      <anchorfile>classKdlChainIdRne.html</anchorfile>
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      <arglist></arglist>
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    <filename>classKdlChainIdRneTest.html</filename>
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      <type>virtual void</type>
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      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Twist</type>
      <name>accelBase</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Twist</type>
      <name>accelOut</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Wrench</type>
      <name>forceBase</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
      <anchor>a55330e198073e32bdb83222ffeb492e4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KdlTreeId</type>
      <name>id</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
      <anchor>a686ece39e6e94a503ca1d81b0c3d16c7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::RigidBodyInertia</type>
      <name>inertiaBase</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
      <anchor>a42e14b15421a7dd9a4dc8f67316c8f4b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::RigidBodyInertia</type>
      <name>inertiaExt</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::RigidBodyInertia</type>
      <name>inertiaSeg</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
      <anchor>ae5afe964d24024a3a8a35058d4d5a835</anchor>
      <arglist></arglist>
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      <type>KDL::Tree</type>
      <name>tree</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Twist</type>
      <name>velBase</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Twist</type>
      <name>velOut</name>
      <anchorfile>classKdlChainIdRneTest.html</anchorfile>
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      <arglist></arglist>
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    <name>KdlChainIk</name>
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      <type>const std::string &amp;</type>
      <name>getBaseFrame</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>getCurrentPose</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
      <anchor>a7076d3232236014b10be7826398fbcec</anchor>
      <arglist>(const KDL::JntArray &amp;joints_in, KDL::Frame &amp;currPose) const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>getJointNames</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
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      <arglist>(std::vector&lt; std::string &gt; &amp;) const </arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classKdlChainIk.html</anchorfile>
      <anchor>a7a763108cbeb23947e7359f42a3cf563</anchor>
      <arglist>(const KDL::JntArray &amp;joints_in, const std::vector&lt; KDL::Frame &gt; &amp;tipPositions, std::vector&lt; KDL::JntArray &gt; &amp;joints_out) const </arglist>
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      <type></type>
      <name>KdlChainIk</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
      <anchor>a801265cab107517639369d3dd611313b</anchor>
      <arglist>(const KDL::Chain &amp;_chain)</arglist>
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    <member kind="function">
      <type></type>
      <name>~KdlChainIk</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
      <anchor>a81fa22d93fce546784361b582e5c847b</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>KDL::Chain</type>
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      <anchorfile>classKdlChainIk.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::auto_ptr&lt; KDL::ChainFkSolverPos &gt;</type>
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      <anchorfile>classKdlChainIk.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::auto_ptr&lt; KDL::ChainIkSolverPos &gt;</type>
      <name>ikPosSolverPtr</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
      <anchor>a648aa50d4ef791424db0138cd7da74a1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::auto_ptr&lt; KDL::ChainIkSolverVel &gt;</type>
      <name>ikVelSolverPtr</name>
      <anchorfile>classKdlChainIk.html</anchorfile>
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      <arglist></arglist>
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      <type>void</type>
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      <anchorfile>classKdlTreeFk.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints, const std::string &amp;name, KDL::Frame &amp;frame)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classKdlTreeFk.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints, std::map&lt; std::string, KDL::Frame &gt; &amp;frames)</arglist>
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      <type>void</type>
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      <anchorfile>classKdlTreeFk.html</anchorfile>
      <anchor>a73cc9e545da88dc464b6c5ba6ca493fa</anchor>
      <arglist>(const KDL::JntArrayVel &amp;joints, std::map&lt; std::string, KDL::FrameVel &gt; &amp;frames)</arglist>
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    <member kind="function">
      <type></type>
      <name>KdlTreeFk</name>
      <anchorfile>classKdlTreeFk.html</anchorfile>
      <anchor>a7b07c2e9e22129dd0cd4b61522f601cc</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>~KdlTreeFk</name>
      <anchorfile>classKdlTreeFk.html</anchorfile>
      <anchor>a167de422ee9c90ea5cddb20c4bf352a3</anchor>
      <arglist>()</arglist>
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      <type>virtual void</type>
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      <anchorfile>classKdlTreeFk.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classKdlTreeFk.html</anchorfile>
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      <arglist>(bool getAll, const KDL::Frame &amp;baseFrame, const KDL::SegmentMap::const_iterator &amp;it, const KDL::JntArray &amp;joints, std::map&lt; std::string, KDL::Frame &gt; &amp;frames)</arglist>
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      <type>void</type>
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      <anchorfile>classKdlTreeFk.html</anchorfile>
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      <arglist>(bool getAll, const KDL::FrameVel &amp;baseFrame, const KDL::SegmentMap::const_iterator &amp;it, const KDL::JntArrayVel &amp;joints, std::map&lt; std::string, KDL::FrameVel &gt; &amp;frames)</arglist>
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      <type>std::auto_ptr&lt; KDL::TreeFkSolverPos &gt;</type>
      <name>fkSolver</name>
      <anchorfile>classKdlTreeFk.html</anchorfile>
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      <arglist></arglist>
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    <name>KdlTreeFkTest</name>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <type>virtual void</type>
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      <anchorfile>classKdlTreeFkTest.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>KdlTreeFk</type>
      <name>fk</name>
      <anchorfile>classKdlTreeFkTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Tree</type>
      <name>tree</name>
      <anchorfile>classKdlTreeFkTest.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KdlTreeId</name>
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      <type>int</type>
      <name>findBranchNodes</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist>(const std::string &amp;baseFrame, const std::string &amp;ignoreFrame, std::vector&lt; std::string &gt; &amp;nodeList, std::vector&lt; std::string &gt; &amp;direction)</arglist>
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      <type>void</type>
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      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist>(const std::string &amp;baseFrame, const std::string &amp;direction, std::string &amp;toolFrame)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classKdlTreeId.html</anchorfile>
      <anchor>ad0934de1828a99af1a124a67afa5a425</anchor>
      <arglist>(KDL::Vector gravity, const std::string &amp;gravityFrame, JointDynamicsData &amp;jd, const std::string &amp;base, KDL::Twist &amp;a_in)</arglist>
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    <member kind="function">
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      <name>isBaseFrameInTree</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
      <anchor>ae9ad270ede70920eed2098573ef7474a</anchor>
      <arglist>(const std::string &amp;baseFrame)</arglist>
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    <member kind="function">
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      <name>KdlTreeId</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
      <anchor>a1fa9f485a59f61ffda714b85228ac2d9</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>KDL::Wrench</type>
      <name>sumForces</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist>(const KDL::Wrenches &amp;f_in)</arglist>
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      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist>(JointDynamicsData &amp;jd, const std::string &amp;baseFrame, const std::string &amp;ignoreFrame, const KDL::Twist &amp;v_in, const KDL::Twist &amp;a_in, KDL::Wrench &amp;f_out, KDL::RigidBodyInertia &amp;I_out)</arglist>
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      <name>~KdlTreeId</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classKdlTreeId.html</anchorfile>
      <anchor>a41b6c721948cab64d4ec8e05de7729bb</anchor>
      <arglist>(const std::string &amp;gravityFrame_in, const std::string &amp;baseFrame_in)</arglist>
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      <type>std::string</type>
      <name>baseFrame</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::auto_ptr&lt; KDL::ChainFkSolverPos_recursive &gt;</type>
      <name>chainFkSolver</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
      <anchor>ad2df86cdb10ae6fe8963696e3d29b57d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::Chain</type>
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      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::string &gt;</type>
      <name>jointNames</name>
      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KDL::JntArrayAcc</type>
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      <anchorfile>classKdlTreeId.html</anchorfile>
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      <arglist></arglist>
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      <type>virtual void</type>
      <name>SetUp</name>
      <anchorfile>classKdlTreeIdTest.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classKdlTreeIdTest.html</anchorfile>
      <anchor>ab444ae5fe2e6292defdc5d50dce76d95</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>KdlTreeId</type>
      <name>id</name>
      <anchorfile>classKdlTreeIdTest.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classKdlTreeIdTest.html</anchorfile>
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      <arglist></arglist>
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      <name>tree</name>
      <anchorfile>classKdlTreeIdTest.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const KDL::JntArray &amp;joints_in, const std::vector&lt; std::string &gt; &amp;nodeNames, const std::vector&lt; KDL::Frame &gt; &amp;nodeFrames, KDL::JntArray &amp;joints_out, const std::vector&lt; NodePriority &gt; &amp;nodePriorities)</arglist>
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      <arglist>(double eps_in=1e-6)</arglist>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist>(const std::map&lt; std::string, double &gt; &amp;inertia_in)</arglist>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist>(double lambda=0.05)</arglist>
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      <arglist>(boost::shared_ptr&lt; JointNamePositionLimiter &gt; posLimiter)</arglist>
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      <arglist>(double timeStep_in=0.01)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::auto_ptr&lt; KDL::TreeJntToJacSolver &gt;</type>
      <name>jacSolverPtr</name>
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      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
      <name>jointNames</name>
      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned int</type>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <type>boost::shared_ptr&lt; JointNamePositionLimiter &gt;</type>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in, const std::vector&lt; std::pair&lt; std::string, KDL::Twist &gt; &gt; &amp;twist_deltas, const std::vector&lt; NodePriority &gt; &amp;nodePriorities, KDL::JntArray &amp;joint_deltas) const </arglist>
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      <type>bool</type>
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      <anchorfile>classKdlTreeIk.html</anchorfile>
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      <arglist></arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>KdlTreeFk</type>
      <name>fk</name>
      <anchorfile>classKdlTreeIkTest.html</anchorfile>
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      <arglist></arglist>
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      <type>std::map&lt; std::string, KDL::Frame &gt;</type>
      <name>frames_out</name>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KdlTreeIk</type>
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      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
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      <arglist></arglist>
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      <type>KDL::JntArrayVel</type>
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      <arglist></arglist>
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      <type>KDL::JntArray</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::map&lt; std::string, double &gt;</type>
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      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
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      <arglist></arglist>
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      <anchorfile>classKdlTreeParser.html</anchorfile>
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      <arglist>() const </arglist>
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      <arglist>(const std::string &amp;paramName)</arglist>
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      <arglist>(const KDL::Tree &amp;tree_in)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(const KDL::JntArray &amp;joints_in, const std::vector&lt; std::string &gt; &amp;nodeNames, const std::vector&lt; KDL::Frame &gt; &amp;nodeFrames, KDL::JntArray &amp;joints_out, const std::vector&lt; NodePriority &gt; &amp;nodePriorities)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in, KDL::JntArray &amp;joints_out, KDL::JntArray &amp;delta_joints)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const std::map&lt; std::string, double &gt; &amp;inertia_in)</arglist>
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      <arglist>(double Kr=0.00032)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in, KDL::RotationalInertia &amp;inertia_out)</arglist>
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      <arglist>(const Eigen::VectorXd &amp;joints_in, const Eigen::VectorXd &amp;joint_deltas, const Eigen::MatrixXd &amp;ijac)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in, KDL::JntArray &amp;joint_deltas)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const KDL::JntArray &amp;joints_in, std::stringstream &amp;errMsg)</arglist>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(const Eigen::VectorXd &amp;nm, const double mom, const Eigen::VectorXd &amp;dr, Eigen::VectorXd &amp;drp)</arglist>
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      <arglist>(const Eigen::MatrixXd &amp;jac_in, Eigen::MatrixXd &amp;ijac_out, double &amp;mom)</arglist>
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      <type>double</type>
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      <anchorfile>classKdlTreeTr.html</anchorfile>
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      <arglist>(double num)</arglist>
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      <arglist>(const std::vector&lt; KDL::Frame &gt; &amp;nodeFrames)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <type>boost::shared_ptr&lt; JointNamePositionLimiter &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>KdlTreeTr</type>
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      <arglist>(const std::string &amp;toolFrame, std::vector&lt; std::string &gt; &amp;jointNames) const </arglist>
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      <arglist>(const std::string &amp;baseFrame, const std::string &amp;toolFrame, std::vector&lt; std::string &gt; &amp;jointNames) const </arglist>
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      <arglist>(std::vector&lt; std::string &gt; &amp;jointNames) const </arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(const CartesianVelocityLimiter &amp;cvl, const KDL::FrameAcc &amp;startPose, const KDL::FrameAcc &amp;goalPose, double duration_in)</arglist>
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      <arglist>(const r2_msgs::ControllerJointSettings &amp;settingsMsg)</arglist>
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      <arglist>(const r2_msgs::ControllerPoseSettings &amp;settingsMsg)</arglist>
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      <arglist>(std::vector&lt; double &gt; priorityNum, std::vector&lt; double &gt; priorityLinearTol, std::vector&lt; double &gt; priorityAngularTol)</arglist>
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      <arglist>(std::vector&lt; std::string &gt; sensorKeys, std::vector&lt; std::string &gt; sensorNames)</arglist>
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      <arglist>(double velocityFactor_in)</arglist>
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      <arglist>(const r2_msgs::PoseState &amp;actualPoseState)</arglist>
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      <arglist>(const sensor_msgs::JointState &amp;inertia_in)</arglist>
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      <arglist>(const r2_msgs::WrenchState &amp;wrenchSensors)</arglist>
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      <arglist>(const r2_msgs::JointCommand &amp;defaultCommandMsg, const r2_msgs::JointControlDataArray &amp;defaultControlMsg, const sensor_msgs::JointState &amp;startJointPositions, const sensor_msgs::JointState &amp;startJointVels)</arglist>
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      <arglist>(const actionlib_msgs::GoalID &amp;goalId, const std::string &amp;msg=std::string())</arglist>
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      <arglist>(const actionlib_msgs::GoalID &amp;goalId, std::set&lt; std::string &gt; &amp;abortedJoints, const std::string &amp;msg=std::string())</arglist>
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      <arglist>(const actionlib_msgs::GoalID &amp;goalId) const </arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames, const sensor_msgs::JointState &amp;startJointPositions, const sensor_msgs::JointState &amp;startJointVels)</arglist>
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      <arglist>(const sensor_msgs::JointState &amp;startJointPositions, const sensor_msgs::JointState &amp;startJointVels, const std::string &amp;msg=std::string())</arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;jointNames, std::set&lt; std::string &gt; &amp;preemptedJoints, const std::string &amp;msg=std::string())</arglist>
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      <arglist>(const r2_msgs::JointControlDataArray &amp;jointControl_out)=0</arglist>
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      <arglist>(const sensor_msgs::JointState &amp;jointState_out)=0</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const r2_msgs::JointControlDataArray &amp;jointControl)</arglist>
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      <arglist>(const r2_msgs::JointCommand &amp;jointCommand)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const r2_msgs::StringArray &amp;basesMsg)</arglist>
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      <arglist>(const r2_msgs::PoseTrajectoryReplan &amp;trajectory)</arglist>
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      <arglist>(const r2_msgs::JointTrajectoryReplan &amp;trajectory)</arglist>
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      <arglist>(const actionlib_msgs::GoalStatusArray &amp;goalStatusMsg_out)</arglist>
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      <arglist>(boost::shared_ptr&lt; baseType &gt; traj)</arglist>
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      <arglist>(const typename trajType&lt; P &gt;::poseType &amp;startPose, const std::vector&lt; typename trajType&lt; P &gt;::poseType &gt; &amp;goalPoses, std::vector&lt; double &gt; durationTargets=std::vector&lt; double &gt;()) const </arglist>
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      <arglist>(double time, KDL::FrameAcc &amp;pose)</arglist>
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      <arglist>(double duration_in)</arglist>
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      <arglist>(const CartesianMotionLimiter &amp;cml, const KDL::FrameAcc &amp;startPose, const KDL::FrameAcc &amp;goalPose, double duration_in)</arglist>
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      <arglist>(double t1_in, double t2_in, double t3_in)</arglist>
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      <arglist>(const KDL::FrameAcc &amp;startPose, const KDL::FrameAcc &amp;goalPose, double timeToFinish=-1.) const </arglist>
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    <base>Trajectory</base>
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      <arglist>(double time, KDL::JntArrayAcc &amp;pose)</arglist>
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      <arglist>(double duration_in)</arglist>
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      <arglist>(const JointMotionLimiter &amp;jml, const KDL::JntArrayAcc &amp;startPose, const KDL::JntArrayAcc &amp;goalPose, double duration_in)</arglist>
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      <arglist>()</arglist>
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      <arglist>(double t1_in, double t2_in, double t3_in)</arglist>
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      <arglist></arglist>
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    <base>JointTrajectoryFactory&lt;&gt;</base>
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      <type>virtual boost::shared_ptr&lt; JointTrajectory &gt;</type>
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      <arglist>(const KDL::JntArrayAcc &amp;startPose, const KDL::JntArrayAcc &amp;goalPose, double durationTarget=-1.) const </arglist>
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      <arglist>()</arglist>
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    <base>CartesianTrajectoryFactory</base>
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      <type>virtual boost::shared_ptr&lt; SynchedCartesianTrajectory &gt;</type>
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      <arglist>(const std::vector&lt; KDL::FrameAcc &gt; &amp;startPoses, const std::vector&lt; KDL::FrameAcc &gt; &amp;goalPoses, double timeToFinish=-1.) const </arglist>
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      <arglist>(double t) const </arglist>
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