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      <arglist>(Gaits gait) const override</arglist>
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      <arglist>() const </arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const ComPos &amp;com_W, const Vector3d com_acc_W, const Matrix3d &amp;w_R_b, const AngVel &amp;omega_W, const Vector3d &amp;omega_dot_W, const EELoad &amp;force_W, const EEPos &amp;pos_W)</arglist>
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      <arglist></arglist>
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      <arglist>(double x, double y) const override</arglist>
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      <arglist>(double x, double y) const override</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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      <arglist>(Direction direction, Dim2D dim, double x, double y) const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(double x, double y) const =0</arglist>
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      <arglist>(Direction direction, double x, double y) const </arglist>
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      <arglist>(TerrainID type)</arglist>
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      <arglist></arglist>
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      <arglist>(Direction direction, double x, double y, const DimDerivs &amp;dim_deriv={}) const </arglist>
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      <arglist>(const Vector3d &amp;non_normalized, int index) const </arglist>
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      <arglist>(double x, double y) const </arglist>
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      <arglist>(double x, double y) const </arglist>
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      <arglist>(double x, double y) const </arglist>
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      <arglist>(double x, double y) const </arglist>
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      <arglist>(double x, double y) const </arglist>
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      <arglist>(double x, double y) const </arglist>
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      <arglist>(double x, double y, const DimDerivs &amp;={}) const </arglist>
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      <arglist>(double x, double y, const DimDerivs &amp;={}) const </arglist>
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      <arglist>(double x, double y, const DimDerivs &amp;={}) const </arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(Gaits gait) const override</arglist>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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    <member kind="function" protection="private">
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      <arglist>() const </arglist>
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      <type>void</type>
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      <arglist>(Combos combo) override</arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
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      <anchorfile>classtowr_1_1MonopedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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      <type>ContactState</type>
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      <arglist></arglist>
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      <type></type>
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      <arglist>()</arglist>
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      <type>ContraintPtrVec</type>
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      <arglist>(const SplineHolder &amp;spline_holder) const </arglist>
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    <member kind="function">
      <type>ContraintPtrVec</type>
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      <arglist>() const </arglist>
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      <arglist>(SplineHolder &amp;spline_holder)</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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      <arglist></arglist>
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      <arglist></arglist>
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      <type>ContraintPtrVec</type>
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      <arglist>(Parameters::ConstraintName name, const SplineHolder &amp;splines) const </arglist>
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      <type>CostPtrVec</type>
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      <arglist>(const Parameters::CostName &amp;id, double weight) const </arglist>
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    <member kind="function" protection="private">
      <type>ContraintPtrVec</type>
      <name>MakeBaseAccConstraint</name>
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      <arglist>(const SplineHolder &amp;s) const </arglist>
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      <type>ContraintPtrVec</type>
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      <arglist>(const SplineHolder &amp;s) const </arglist>
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      <type>std::vector&lt; NodesVariables::Ptr &gt;</type>
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      <arglist>() const </arglist>
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      <type>std::vector&lt; PhaseDurations::Ptr &gt;</type>
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      <arglist>() const </arglist>
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      <type>ContraintPtrVec</type>
      <name>MakeDynamicConstraint</name>
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      <arglist>(const SplineHolder &amp;s) const </arglist>
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    <member kind="function" protection="private">
      <type>CostPtrVec</type>
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      <arglist>(double weight) const </arglist>
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      <type>std::vector&lt; NodesVariablesPhaseBased::Ptr &gt;</type>
      <name>MakeEndeffectorVariables</name>
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      <arglist>() const </arglist>
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      <type>ContraintPtrVec</type>
      <name>MakeForceConstraint</name>
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      <arglist>() const </arglist>
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    <member kind="function" protection="private">
      <type>CostPtrVec</type>
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      <arglist>(double weight) const </arglist>
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      <type>std::vector&lt; NodesVariablesPhaseBased::Ptr &gt;</type>
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      <arglist>() const </arglist>
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      <type>ContraintPtrVec</type>
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      <arglist>(const SplineHolder &amp;s) const </arglist>
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      <type>ContraintPtrVec</type>
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      <arglist>() const </arglist>
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      <type>ContraintPtrVec</type>
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      <arglist>() const </arglist>
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      <type>ContraintPtrVec</type>
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      <anchorfile>classtowr_1_1NlpFormulation.html</anchorfile>
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      <arglist>() const </arglist>
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      <arglist>(int dim=0)</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist>() const override</arglist>
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      <type>void</type>
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      <anchorfile>classtowr_1_1NodeCost.html</anchorfile>
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      <arglist>(const VariablesPtr &amp;x) override</arglist>
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      <name>NodeCost</name>
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      <arglist>(const std::string &amp;nodes_id, Dx deriv, int dim, double weight)</arglist>
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      <arglist>()</arglist>
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      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
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      <type>Dx</type>
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      <anchorfile>classtowr_1_1NodeCost.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1NodeCost.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; NodesVariables &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(NodeSubjectPtr node_values)</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Jacobian</type>
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      <arglist>(double t) const </arglist>
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      <arglist>(double t, Dx dxdt) const </arglist>
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    <member kind="function">
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      <arglist>(int poly_id, double t_local, Dx dxdt) const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(NodeSubjectPtr const node_variables, const VecTimes &amp;polynomial_durations)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classtowr_1_1NodeSpline.html</anchorfile>
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      <arglist>(int poly_id, double t_local, Dx dxdt, Jacobian &amp;jac, bool fill_with_zeros) const </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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      <anchorfile>classtowr_1_1NodesVariables.html</anchorfile>
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      <arglist>(Dx deriv, const std::vector&lt; int &gt; &amp;dimensions, const VectorXd &amp;val)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classtowr_1_1NodesVariables.html</anchorfile>
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      <arglist>(ObserverPtr const spline)</arglist>
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    <member kind="function">
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      <anchorfile>classtowr_1_1NodesVariables.html</anchorfile>
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      <arglist>(Dx deriv, const std::vector&lt; int &gt; &amp;dimensions, const VectorXd &amp;val)</arglist>
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    <member kind="function">
      <type>const std::vector&lt; Node &gt;</type>
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      <arglist>(int poly_id) const </arglist>
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      <anchorfile>classtowr_1_1NodesVariables.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <arglist>() const </arglist>
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      <type>int</type>
      <name>GetEECount</name>
      <anchorfile>classtowr_1_1Parameters.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>int</type>
      <name>GetPhaseCount</name>
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      <arglist>(EEID ee) const </arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetTotalTime</name>
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      <arglist>() const </arglist>
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      <type>bool</type>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Parameters</name>
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      <arglist>()</arglist>
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    <member kind="variable">
      <type>std::pair&lt; double, double &gt;</type>
      <name>bound_phase_duration_</name>
      <anchorfile>classtowr_1_1Parameters.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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      <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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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(PhaseDurationsObserver *const spline)</arglist>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>() const override</arglist>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
      <anchor>a4780d8dac1b0778d9c2ef57657d1d13d</anchor>
      <arglist>(int phase, const VectorXd &amp;dx_dT, const VectorXd &amp;xd) const </arglist>
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      <arglist>() const </arglist>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>() const override</arglist>
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      <name>IsContactPhase</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>(double t) const </arglist>
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      <arglist>(EndeffectorID ee, const VecDurations &amp;initial_durations, bool is_first_phase_in_contact, double min_phase_duration, double max_phase_duration)</arglist>
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      <arglist>(const VectorXd &amp;x) override</arglist>
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      <name>~PhaseDurations</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
      <anchor>a7b7d1465390f0c0d0b89407df733a361</anchor>
      <arglist>() const </arglist>
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      <type>VecDurations</type>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(PhaseDurationsSubjectPtr phase_durations)</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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      <type>PhaseDurationsSubjectPtr</type>
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      <arglist></arglist>
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      <type>Jacobian</type>
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      <arglist>(double t) const override</arglist>
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      <arglist>(NodesVariablesPhaseBased::Ptr const node_variables, PhaseDurations *const phase_durations)</arglist>
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      <arglist>() override</arglist>
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      <arglist>()</arglist>
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      <type>Eigen::VectorXd</type>
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      <arglist>(double t) const </arglist>
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      <arglist></arglist>
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      <name>Coefficients</name>
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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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      <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>(double t, Dx poly_deriv, Coefficients coeff) const </arglist>
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      <arglist>(double t) const </arglist>
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      <arglist>(int poly_order, int poly_dim)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="function">
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      <name>QuadrupedGaitGenerator</name>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~QuadrupedGaitGenerator</name>
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      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>GaitInfo</type>
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      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist>(Gaits gait) const override</arglist>
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    <member kind="function" protection="private">
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      <name>GetStrideBound</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideBoundEnd</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a535e52f748c6784142ba4ffb45d67f42</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideFlight</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a052afa04c462dee692ac42d4b45d94ef</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideGallop</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>af57496bf8f81a25fd2043800af70b5a2</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideLimp</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>aa67562c8518d8d9b2c604e2f348808c8</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStridePace</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>acc1d5f214fafb2626193b0938e5fbf20</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStridePaceEnd</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a0354a1ead7bbc7af12780b70fa0ae76c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStridePronk</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a3c36d664eb12ba19312e81145878619d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideStand</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a14512aa862782441d851bced9631781a</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideTrot</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a180fb7839afc565abd0d09e414750549</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideTrotFly</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>acddadc473c60fb1679fd993ed06ad424</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideTrotFlyEnd</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a0088ffcbaf944cab9d5920ae08fd540c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideWalk</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a97d71befcafacf6b25f38e85ab643c64</anchor>
      <arglist>() const </arglist>
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    <member kind="function" protection="private">
      <type>GaitInfo</type>
      <name>GetStrideWalkOverlap</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a0d15fc8df344065e8c72e7d517f4d3dd</anchor>
      <arglist>() const </arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>SetCombo</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a1985386a5fa053942946198c0cf8ff75</anchor>
      <arglist>(Combos combo) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>bb_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>ad333049376fc7799f92d7f1705ceb328</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>Bb_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>ae3291e0e0023312a2a7d5bf8d1e38baa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>bB_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a28928956c1ea96c7095ed196cb9c3c32</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>BB_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a7ef23718d576ce2091621a3993aa5898</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>bI_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>ab3189f8c778d039f0e13538f54e31fb4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>BI_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>bP_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>BP_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
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      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>IB_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
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      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
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      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>Pb_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
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      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>PI_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>aaa51c3bf3a2b29574fb20aeaf6096463</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ContactState</type>
      <name>PP_</name>
      <anchorfile>classtowr_1_1QuadrupedGaitGenerator.html</anchorfile>
      <anchor>a724634779f05e074573b19d4f1193aa2</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>towr::RangeOfMotionConstraint</name>
    <filename>classtowr_1_1RangeOfMotionConstraint.html</filename>
    <base>towr::TimeDiscretizationConstraint</base>
    <member kind="function">
      <type></type>
      <name>RangeOfMotionConstraint</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a7a5d50fa5a7445ff22cdacd81cf31c7a</anchor>
      <arglist>(const KinematicModel::Ptr &amp;robot_model, double T, double dt, const EE &amp;ee, const SplineHolder &amp;spline_holder)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RangeOfMotionConstraint</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a104a89a27746863824ae7016cd8b3a00</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>GetRow</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a5bf53d6c4148d227612acd1c9d38d17f</anchor>
      <arglist>(int node, int dimension) const </arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateBoundsAtInstance</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a48260d2699de6d6876f4edcd6289b639</anchor>
      <arglist>(double t, int k, VecBound &amp;) const override</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateConstraintAtInstance</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>acefd83fff93ddc8100c45db2c24832cb</anchor>
      <arglist>(double t, int k, VectorXd &amp;g) const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateJacobianAtInstance</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a1819e4dca16f956ffa3be273e8bd73ef</anchor>
      <arglist>(double t, int k, std::string, Jacobian &amp;) const override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>EulerConverter</type>
      <name>base_angular_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a9f2fb3b84af6afc4ab275045e55899d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
      <name>base_linear_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a4cd66f652d239de5c4b2070df4807c7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>EE</type>
      <name>ee_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a814f83ecd10d3f6dcb316ac3ad3d9354</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
      <name>ee_motion_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a66cb7c4d6d3b221f31c9ca6271a56acc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>max_deviation_from_nominal_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>ad20877e9c11af073a5c5286b0c8bdf0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>nominal_ee_pos_B_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a1c43c68f10d0cc600efc213bf58a300f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>towr::RobotModel</name>
    <filename>structtowr_1_1RobotModel.html</filename>
    <member kind="enumeration">
      <name>Robot</name>
      <anchorfile>group__Robots.html</anchorfile>
      <anchor>ga9cd74bf8fe751a01d26ed3a4b362b0f6</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>Monoped</name>
      <anchorfile>group__Robots.html</anchorfile>
      <anchor>gga9cd74bf8fe751a01d26ed3a4b362b0f6ac221ea3e0d3dadfcd9cb470b3a7e3e0a</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>Biped</name>
      <anchorfile>group__Robots.html</anchorfile>
      <anchor>gga9cd74bf8fe751a01d26ed3a4b362b0f6ac2a368e7ffb99022e39629c8a898298b</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>Hyq</name>
      <anchorfile>group__Robots.html</anchorfile>
      <anchor>gga9cd74bf8fe751a01d26ed3a4b362b0f6a511eb9366d3a8866caeaa9b265d23aa9</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>Anymal</name>
      <anchorfile>group__Robots.html</anchorfile>
      <anchor>gga9cd74bf8fe751a01d26ed3a4b362b0f6a0c2018c4e500309f4d579f96e345df5a</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>ROBOT_COUNT</name>
      <anchorfile>group__Robots.html</anchorfile>
      <anchor>gga9cd74bf8fe751a01d26ed3a4b362b0f6ad8765d70a92df3391f5b22fcaaacfe7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotModel</name>
      <anchorfile>structtowr_1_1RobotModel.html</anchorfile>
      <anchor>a505d4a690abed6d5fcefec74f00c0012</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotModel</name>
      <anchorfile>structtowr_1_1RobotModel.html</anchorfile>
      <anchor>a353fcbb40378273771342220032510d7</anchor>
      <arglist>(Robot robot)</arglist>
    </member>
    <member kind="variable">
      <type>DynamicModel::Ptr</type>
      <name>dynamic_model_</name>
      <anchorfile>structtowr_1_1RobotModel.html</anchorfile>
      <anchor>a4c5f831840739788e1fc45fc734cce8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>KinematicModel::Ptr</type>
      <name>kinematic_model_</name>
      <anchorfile>structtowr_1_1RobotModel.html</anchorfile>
      <anchor>a1f8c263f2cb4a0126a75c64ae94ebdb0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::SingleRigidBodyDynamics</name>
    <filename>classtowr_1_1SingleRigidBodyDynamics.html</filename>
    <base>towr::DynamicModel</base>
    <member kind="function">
      <type>BaseAcc</type>
      <name>GetDynamicViolation</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>aa2deef1914c896d2114493a789fe02c7</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>Jac</type>
      <name>GetJacobianWrtBaseAng</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>a21ccb22a20ff0ea04922edba50a6cff1</anchor>
      <arglist>(const EulerConverter &amp;base_angular, double t) const override</arglist>
    </member>
    <member kind="function">
      <type>Jac</type>
      <name>GetJacobianWrtBaseLin</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>ab1c1e5f5c1da97a26e9a61c1aa2defd8</anchor>
      <arglist>(const Jac &amp;jac_base_lin_pos, const Jac &amp;jac_acc_base_lin) const override</arglist>
    </member>
    <member kind="function">
      <type>Jac</type>
      <name>GetJacobianWrtEEPos</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>adcf7c385bfc415432f9106f928745673</anchor>
      <arglist>(const Jac &amp;jac_ee_pos, EE) const override</arglist>
    </member>
    <member kind="function">
      <type>Jac</type>
      <name>GetJacobianWrtForce</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>a150a4f24e5a73faba40f1e999ff93052</anchor>
      <arglist>(const Jac &amp;jac_force, EE) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>SingleRigidBodyDynamics</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>a41cb261fbeea1ae8e643c578bab60861</anchor>
      <arglist>(double mass, const Eigen::Matrix3d &amp;inertia_b, int ee_count)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SingleRigidBodyDynamics</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>a2e8713d56a942cb9a0d69a2b869c8065</anchor>
      <arglist>(double mass, double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz, int ee_count)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SingleRigidBodyDynamics</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>ae2b5985ca2ba8c51c72048c7dfae11c5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::SparseMatrix&lt; double, Eigen::RowMajor &gt;</type>
      <name>I_b</name>
      <anchorfile>classtowr_1_1SingleRigidBodyDynamics.html</anchorfile>
      <anchor>aca452911155ff547a83683782e0678aa</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>towr::Slope</name>
    <filename>classtowr_1_1Slope.html</filename>
    <base>towr::HeightMap</base>
    <member kind="function">
      <type>double</type>
      <name>GetHeight</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>af7c618865242b92efa3940b2541c471a</anchor>
      <arglist>(double x, double y) const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>GetHeightDerivWrtX</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>a4fc00465cd5a41bfd517c1fdcad784eb</anchor>
      <arglist>(double x, double y) const override</arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>down_length_</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>a03c0cf4fb9db42fc1f1c0555bd8ed294</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>height_center</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>ae61d3a97d0f1ef17ac7e1c45f960a5be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>slope_</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>ac36ea2644123711064c7c07a3134e868</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>slope_start_</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>aec88bcb8a4f665630c1c9e3c7d035c34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>up_length_</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>a311fc6ff132b9da8d1eada3c7823d0ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>x_down_start_</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>af283b11314c1c2bab4ed690f70e68ee6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>x_flat_start_</name>
      <anchorfile>classtowr_1_1Slope.html</anchorfile>
      <anchor>aa8420a117a99088f07e6eb60a96edfd1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::SoftConstraint</name>
    <filename>classtowr_1_1SoftConstraint.html</filename>
    <member kind="function">
      <type></type>
      <name>SoftConstraint</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>ace537113e8b68b1667193317590ba35d</anchor>
      <arglist>(const ConstraintPtr &amp;constraint)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SoftConstraint</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>a14833dbd1785013d7c512140536c734e</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>af26c06768b06b3a3030ee9a511259863</anchor>
      <arglist>() const final</arglist>
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    <member kind="function" protection="private">
      <type>Jacobian</type>
      <name>GetJacobian</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>a61880b2d41ac12ac64fc4e5127d57d3e</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" protection="private">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>a78fa11c709604008b06cf03f043e3237</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>SetVariables</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>a93e8190a088b8ea374c6d6571f45b100</anchor>
      <arglist>(const VectorXd &amp;x) final</arglist>
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    <member kind="variable" protection="private">
      <type>VectorXd</type>
      <name>b_</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>acee0c9ad3fa4a606fa12d03f38f36fd9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ConstraintPtr</type>
      <name>constraint_</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
      <anchor>a9b7bc4fb64aabb5e242d43c7d88633c4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>VectorXd</type>
      <name>W_</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <arglist></arglist>
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    <name>towr::Spline</name>
    <filename>classtowr_1_1Spline.html</filename>
    <member kind="function">
      <type>const State</type>
      <name>GetPoint</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>a658752d190854d33f2853aa6bf773954</anchor>
      <arglist>(double t) const </arglist>
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    <member kind="function">
      <type>const State</type>
      <name>GetPoint</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>ab7562a8a7c73d87c73812ee83d2d8bd7</anchor>
      <arglist>(int poly_id, double t_local) const </arglist>
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    <member kind="function">
      <type>VecTimes</type>
      <name>GetPolyDurations</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>aeadbe313c37678cc693161365a077e55</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetPolynomialCount</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>a21d53428c3258def3aaa8cdcf135568a</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetTotalTime</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>ab19caa094e08d36888beca4b66d55f35</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>Spline</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>a059b55bf0547a97c9aab9be18bba3bad</anchor>
      <arglist>(const VecTimes &amp;poly_durations, int n_dim)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Spline</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>ac78d38d0ff0d3cc18d5b9a03b6f02f6b</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static int</type>
      <name>GetSegmentID</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>acb2b4e6693cff7bea8eb3f32452d42a2</anchor>
      <arglist>(double t_global, const VecTimes &amp;durations)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::pair&lt; int, double &gt;</type>
      <name>GetLocalTime</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>ad76069a0b774aaf58d675872e14df9f4</anchor>
      <arglist>(double t_global, const VecTimes &amp;d) const </arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>UpdatePolynomialCoeff</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>a3208fbf383a4c69f8ee18486152a6f2e</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>VecPoly</type>
      <name>cubic_polys_</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>a65d064567733492c05401033d4a925e8</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>towr::SplineAccConstraint</name>
    <filename>classtowr_1_1SplineAccConstraint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>FillJacobianBlock</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>ae4895edc41c9d6c29e39ee2ef5093d88</anchor>
      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
    </member>
    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>ad820b44fb523b46ff2d27e7e784d5f87</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>a6a872636ba26d70acf5972451978db30</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SplineAccConstraint</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>adf67464c035ab5de6c5bc4c053e5dfab</anchor>
      <arglist>(const NodeSpline::Ptr &amp;spline, std::string name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SplineAccConstraint</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>abcb2997e44f85bc19b568c3f5e22bdf3</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_dim_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>acf4eb6fee8ee85b90ac4e4ffc3851b05</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_junctions_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>aebc34b69f7daec1c21df66a65a353791</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>node_variables_id_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>aa324719827d588f3a52677a983244449</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
      <name>spline_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>a4e8a2405a268ef9ec89babadf914f4cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>T_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>ab7245c4ffe07e37a7177dfd472b8f8b7</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="struct">
    <name>towr::SplineHolder</name>
    <filename>structtowr_1_1SplineHolder.html</filename>
    <member kind="function">
      <type></type>
      <name>SplineHolder</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a64a7844039e8cc49d8a226682b7f2841</anchor>
      <arglist>(NodesVariables::Ptr base_lin, NodesVariables::Ptr base_ang, const std::vector&lt; double &gt; &amp;base_poly_durations, std::vector&lt; NodesVariablesPhaseBased::Ptr &gt; ee_motion, std::vector&lt; NodesVariablesPhaseBased::Ptr &gt; ee_force, std::vector&lt; PhaseDurations::Ptr &gt; phase_durations, bool ee_durations_change)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SplineHolder</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a929f5088ed98945601721b2f03d735ce</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>NodeSpline::Ptr</type>
      <name>base_angular_</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a97b703b3118c5f93fc6c443bff3ccb80</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>NodeSpline::Ptr</type>
      <name>base_linear_</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>abe0b01ab3cf09ab88016e3b432060d54</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::vector&lt; NodeSpline::Ptr &gt;</type>
      <name>ee_force_</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a0adb14a05263667e621a1b958e66620e</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::vector&lt; NodeSpline::Ptr &gt;</type>
      <name>ee_motion_</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a0ef7acf0c9240c5b2adc7f30a6231e3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; PhaseDurations::Ptr &gt;</type>
      <name>phase_durations_</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a3294767a959653e994c9321cba28f766</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::Stairs</name>
    <filename>classtowr_1_1Stairs.html</filename>
    <base>towr::HeightMap</base>
    <member kind="function">
      <type>double</type>
      <name>GetHeight</name>
      <anchorfile>classtowr_1_1Stairs.html</anchorfile>
      <anchor>a923f67b10f87931f9b4928f0a91cffab</anchor>
      <arglist>(double x, double y) const override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>first_step_start_</name>
      <anchorfile>classtowr_1_1Stairs.html</anchorfile>
      <anchor>ad0fb0d4efbe99325bf44ba54356edf60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>first_step_width_</name>
      <anchorfile>classtowr_1_1Stairs.html</anchorfile>
      <anchor>a0238f68766a892dac433a540d549d741</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>height_first_step</name>
      <anchorfile>classtowr_1_1Stairs.html</anchorfile>
      <anchor>a3f8558d130630e65b5d30e47a338cd38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>height_second_step</name>
      <anchorfile>classtowr_1_1Stairs.html</anchorfile>
      <anchor>a0b4334cf132c615c7b72138b99511da0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>width_top</name>
      <anchorfile>classtowr_1_1Stairs.html</anchorfile>
      <anchor>a152ce5620253f68f405eca6a2f1d0a2a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::State</name>
    <filename>classtowr_1_1State.html</filename>
    <member kind="function">
      <type>const VectorXd</type>
      <name>a</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>ae64b719a7d496f18bcb0dbdbec4588f8</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>const VectorXd</type>
      <name>at</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>a77ce454d97f40d0c991d4ce1998656c4</anchor>
      <arglist>(Dx deriv) const </arglist>
    </member>
    <member kind="function">
      <type>VectorXd &amp;</type>
      <name>at</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>af75250b16c773404e37bf9367c4d05ca</anchor>
      <arglist>(Dx deriv)</arglist>
    </member>
    <member kind="function">
      <type>const VectorXd</type>
      <name>p</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>a0d53993ea7e93184cb7c2010f14913ab</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>State</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>aa55d5d87dbc2478022d0be1cf37a1bcd</anchor>
      <arglist>(int dim, int n_derivatives)</arglist>
    </member>
    <member kind="function">
      <type>const VectorXd</type>
      <name>v</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>a41fd6cacde9df8a20186c3f189ad6fe8</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~State</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>a4b54a5845ead92fd5f1bf54f026cb290</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; VectorXd &gt;</type>
      <name>values_</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>ae3b70b41a5a203751fb3f5c5eab1a974</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>towr::SwingConstraint</name>
    <filename>classtowr_1_1SwingConstraint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>FillJacobianBlock</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>aee9fe27b85cd367893206b05602faa69</anchor>
      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
    </member>
    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a1ec6aa8736f72a9d9af9e26899266e59</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a184b57887ca9e1c157c60cec4d4e0bdb</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>InitVariableDependedQuantities</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a05f82d8519363330cf4b044cc492249b</anchor>
      <arglist>(const VariablesPtr &amp;x) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SwingConstraint</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>aed0d74fd4bf710955ee1aecf3ff6d1a8</anchor>
      <arglist>(std::string ee_motion_id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SwingConstraint</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>ab157491504c6e0004dbba9882f85641e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NodesVariablesPhaseBased::Ptr</type>
      <name>ee_motion_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a6f57eb8a7a81526d1afc8b2b1a29b420</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>ee_motion_id_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a48e6ac7c5c3be736462ce56b15de3acf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>pure_swing_node_ids_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a478cca7940c0ece5bb8e6c978fbc1c7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>t_swing_avg_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a6825141b3fb0401cdbe8d37ec42844c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::TerrainConstraint</name>
    <filename>classtowr_1_1TerrainConstraint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>FillJacobianBlock</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>afa95ab6784260870164c4c1d0cf36960</anchor>
      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
    </member>
    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a773c94a18b3a4f8d38bea68c48b4f9cc</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a01283a09855909fa31d9da99dc7371a7</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>InitVariableDependedQuantities</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a837de5fc54b6c2840a7beea478072b60</anchor>
      <arglist>(const VariablesPtr &amp;x) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TerrainConstraint</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>afe4a34274b83dbd9d8220274bd0128e4</anchor>
      <arglist>(const HeightMap::Ptr &amp;terrain, std::string ee_motion_id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TerrainConstraint</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>ab0f1330776613e9cd8bfafb079fabe99</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NodesVariablesPhaseBased::Ptr</type>
      <name>ee_motion_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a4c317fadd38d999aef5479b2732ac1d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>ee_motion_id_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>ad9d6bcceb5e5c8dc1b3617f19692fe13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>node_ids_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a376bdfb280195c25143c0ea7ac785ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
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