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      <anchor>afb25585256e3fb65d5bff395fc6d8805</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Jac</type>
      <name>GetJacobianWrtBaseAng</name>
      <anchorfile>classtowr_1_1CentroidalModel.html</anchorfile>
      <anchor>a0382e1f5035eda85326fc10c421a8041</anchor>
      <arglist>(const EulerConverter &amp;base_angular, double t) const override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Jac</type>
      <name>GetJacobianWrtBaseLin</name>
      <anchorfile>classtowr_1_1CentroidalModel.html</anchorfile>
      <anchor>a97cc22e8b8d93d02ac93db40b2fc3d74</anchor>
      <arglist>(const Jac &amp;jac_base_lin_pos, const Jac &amp;jac_acc_base_lin) const override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Jac</type>
      <name>GetJacobianWrtEEPos</name>
      <anchorfile>classtowr_1_1CentroidalModel.html</anchorfile>
      <anchor>a14ee4461f76dbb69fc77c9924fbdf26b</anchor>
      <arglist>(const Jac &amp;jac_ee_pos, EE) const override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Jac</type>
      <name>GetJacobianWrtForce</name>
      <anchorfile>classtowr_1_1CentroidalModel.html</anchorfile>
      <anchor>ae2bbd9f5df3ede7c92c406cd526f50c7</anchor>
      <arglist>(const Jac &amp;jac_force, EE) const override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CentroidalModel</name>
      <anchorfile>classtowr_1_1CentroidalModel.html</anchorfile>
      <anchor>a56d7c50f6763d304a60ed6fc39c70828</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_1CentroidalModel.html</anchorfile>
      <anchor>a956ffc7d0008c42d5600498f79fd8de6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::CubicHermitePolynomial</name>
    <filename>classtowr_1_1CubicHermitePolynomial.html</filename>
    <base>towr::Polynomial</base>
    <member kind="function">
      <type></type>
      <name>CubicHermitePolynomial</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ac14bb68beb5559c75a21796ff2f8cf2d</anchor>
      <arglist>(int dim)</arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>GetDerivativeOfPosWrtDuration</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ad07fd303c50697469e1d4576f51d3dd6</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>GetDerivativeWrtEndNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ae6b815be87564fa86db384c9c46cede3</anchor>
      <arglist>(Dx dfdt, Dx node_deriv, double t) const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>GetDerivativeWrtStartNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a648fc33c037c7ff7d3c223e9a558eeb6</anchor>
      <arglist>(Dx dfdt, Dx node_deriv, double t) const </arglist>
    </member>
    <member kind="function">
      <type>const double</type>
      <name>GetDuration</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>af615fab32bf20c1d0778a63aac069c5a</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetDuration</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ab6b6b628205b17cf5a08fecb88117ce7</anchor>
      <arglist>(double duration)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetNodes</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a9d0dccf37b1b703560bc03090c27a501</anchor>
      <arglist>(const Node &amp;n0, const Node &amp;n1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>UpdateCoeff</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a4288b1e76c06ab4032ea23cd51e11482</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CubicHermitePolynomial</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ad14e3db7400ab073c642c1ad45c035eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>GetDerivativeOfAccWrtEndNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>aa843b232724078794b28fdd7b67280a2</anchor>
      <arglist>(Dx node_deriv, double t_local) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>GetDerivativeOfAccWrtStartNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a283cb7701e1525168c13bcac8f3ac6a2</anchor>
      <arglist>(Dx node_deriv, double t_local) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>GetDerivativeOfPosWrtEndNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a191299c3d5f4e448a646dad6228c8ff3</anchor>
      <arglist>(Dx node_deriv, double t_local) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>GetDerivativeOfPosWrtStartNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>afbad4e583e9646569b98a48f8b168c4e</anchor>
      <arglist>(Dx node_deriv, double t_local) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>GetDerivativeOfVelWrtEndNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a5e15997703485be9636ba475802f6de0</anchor>
      <arglist>(Dx node_deriv, double t_local) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>GetDerivativeOfVelWrtStartNode</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a60bd8b26e04208a6a5e53a2460c8e015</anchor>
      <arglist>(Dx node_deriv, double t_local) const </arglist>
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    <member kind="variable" protection="private">
      <type>Node</type>
      <name>n0_</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ad7422e8e9684223888459ee38b6cde69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Node</type>
      <name>n1_</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>ac0503fb4bf0a3251c5c3d501ff7a0556</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>T_</name>
      <anchorfile>classtowr_1_1CubicHermitePolynomial.html</anchorfile>
      <anchor>a1766a336c0dfd904d4af2b0e13f0227c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::DynamicConstraint</name>
    <filename>classtowr_1_1DynamicConstraint.html</filename>
    <base>towr::TimeDiscretizationConstraint</base>
    <member kind="function">
      <type></type>
      <name>DynamicConstraint</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>aaff35157a2e4dcd96d72f46a98593320</anchor>
      <arglist>(const DynamicModel::Ptr &amp;model, const Parameters &amp;params, const SplineHolder &amp;spline_holder)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~DynamicConstraint</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a6ae53ca1844ba64227639d57c67780b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>GetRow</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a92f22b91d77634622e70d05d6b3fcae6</anchor>
      <arglist>(int k, Dim6D dimension) const </arglist>
    </member>
    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual void</type>
      <name>UpdateBoundsAtInstance</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a68ed248eff675705011e071cc06f0699</anchor>
      <arglist>(double t, int k, VecBound &amp;bounds) const override</arglist>
    </member>
    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual void</type>
      <name>UpdateConstraintAtInstance</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a2f6ef47338ab40774a09ad037f3aba24</anchor>
      <arglist>(double t, int k, VectorXd &amp;g) const override</arglist>
    </member>
    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual void</type>
      <name>UpdateJacobianAtInstance</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a66250296175d9fcb327c9659c81b22e0</anchor>
      <arglist>(double t, int k, std::string, Jacobian &amp;) const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateModel</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a1647aff6f83f2f35a6f43de25b76b39d</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>EulerConverter</type>
      <name>base_angular_</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a629ac0c29cd54c072c37112482ee1108</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
      <name>base_linear_</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a3a74f1fa8cb694e42680d68e3a7ffbba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; NodeSpline::Ptr &gt;</type>
      <name>ee_forces_</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>ad41a91fdd13577e4e1b86e2f1cb1256f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; NodeSpline::Ptr &gt;</type>
      <name>ee_motion_</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a2aa89584df1f43ed111b2b14717e26b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DynamicModel::Ptr</type>
      <name>model_</name>
      <anchorfile>classtowr_1_1DynamicConstraint.html</anchorfile>
      <anchor>a3ff3d0325f02a492966e57cf3e266131</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>towr::DynamicModel</name>
    <filename>classtowr_1_1DynamicModel.html</filename>
    <member kind="function">
      <type>double</type>
      <name>g</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a11af83ee341e384a3fa23e3e3152f853</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual BaseAcc</type>
      <name>GetDynamicViolation</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a4074694d392d9e45dc35b643fb47e2bf</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEECount</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>ac59919742961fd4e28c01da2406febde</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Jac</type>
      <name>GetJacobianWrtBaseAng</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a618e8a4a51c1eecd9f7e80a22bf776e0</anchor>
      <arglist>(const EulerConverter &amp;base_angular, double t) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Jac</type>
      <name>GetJacobianWrtBaseLin</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>ac0f6a246b4dadd3ee458a39e7d624c17</anchor>
      <arglist>(const Jac &amp;jac_base_lin_pos, const Jac &amp;jac_base_lin_acc) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Jac</type>
      <name>GetJacobianWrtEEPos</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>ada767f5f7891a48bb416b933a0adf91f</anchor>
      <arglist>(const Jac &amp;ee_pos, EE ee) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Jac</type>
      <name>GetJacobianWrtForce</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a2afbd9ddf8e41f7b3186e61a700f7de1</anchor>
      <arglist>(const Jac &amp;ee_force, EE ee) const =0</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>m</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a987518cff2f6870521d3855322c3e61d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetCurrent</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>acc53dd82023029c7125467b03d73e51d</anchor>
      <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>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>DynamicModel</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a3197895cb65a0b35c3005852e2eb3716</anchor>
      <arglist>(double mass, int ee_count)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual</type>
      <name>~DynamicModel</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a62b1e0d927f764855b5e1c1f4505a032</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>Vector3d</type>
      <name>com_acc_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a16e26eb872243a1bf277eed8d2cf93aa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ComPos</type>
      <name>com_pos_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>ade1625040da2e32d641bdd223907db7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>EELoad</type>
      <name>ee_force_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>aba6d6df85b5eb2378f39f803dd44828e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>EEPos</type>
      <name>ee_pos_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a45e8c0ff85352b16ab8cfe4843d16b2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>AngVel</type>
      <name>omega_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a5bbea43d66d38f592796e3753cd3b8a1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Vector3d</type>
      <name>omega_dot_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a05b0fa0fea718eee12ef6babf9b56e71</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Matrix3d</type>
      <name>w_R_b_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a08a6a78834c2e44ff9c6fddf73a37390</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>g_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a50e5fb07fd8473ad9df7fc7e2c6487cf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>m_</name>
      <anchorfile>classtowr_1_1DynamicModel.html</anchorfile>
      <anchor>a5f3398d4d7cd334d6942a0cbed1af338</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>towr::EulerConverter</name>
    <filename>classtowr_1_1EulerConverter.html</filename>
    <member kind="function">
      <type>Jacobian</type>
      <name>DerivOfRotVecMult</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a9afda84532555614e9a942943bd0bbf7</anchor>
      <arglist>(double t, const Vector3d &amp;v, bool inverse) const </arglist>
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    <member kind="function">
      <type></type>
      <name>EulerConverter</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>aa5e87336f83790b0a2ba5d5c7dbeec2b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>EulerConverter</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>ab853ee880523a9f4389879ee5c96ae85</anchor>
      <arglist>(const NodeSpline::Ptr &amp;euler_angles)</arglist>
    </member>
    <member kind="function">
      <type>Vector3d</type>
      <name>GetAngularAccelerationInWorld</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a96f27d3630b518de4c15389b4137eac0</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="function">
      <type>Vector3d</type>
      <name>GetAngularVelocityInWorld</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>aa99fca83442bd806f17cc0e6535a3f69</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="function">
      <type>Jacobian</type>
      <name>GetDerivOfAngAccWrtEulerNodes</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a7afa2d62061bbfa41d8ccd8cce99e098</anchor>
      <arglist>(double t) const </arglist>
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    <member kind="function">
      <type>Jacobian</type>
      <name>GetDerivOfAngVelWrtEulerNodes</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>af7bcadd5e40ba6f425a937eee7d4ade2</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="function">
      <type>Eigen::Quaterniond</type>
      <name>GetQuaternionBaseToWorld</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a534173862ee8f6178233f4ee88a000af</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="function">
      <type>MatrixSXd</type>
      <name>GetRotationMatrixBaseToWorld</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a023c10d2758cc73dcea54f1fbdc25058</anchor>
      <arglist>(double t) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~EulerConverter</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>ab0b2eb4cfbf5e3fe83c58cdc1032605d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>JacRowMatrix</type>
      <name>GetDerivativeOfRotationMatrixWrtNodes</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
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      <arglist>(double t) const </arglist>
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    <member kind="function" protection="private">
      <type>Jacobian</type>
      <name>GetDerivMdotwrtNodes</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a48c425969e7a1500451ddbba7fb7ba94</anchor>
      <arglist>(double t, Dim3D dim) const </arglist>
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    <member kind="function" protection="private">
      <type>Jacobian</type>
      <name>GetDerivMwrtNodes</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>adba5db1c237153826b887c7bbb298581</anchor>
      <arglist>(double t, Dim3D dim) const </arglist>
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    <member kind="function" protection="private">
      <type>JacobianRow</type>
      <name>GetJac</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
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      <arglist>(double t, Dx deriv, Dim3D dim) const </arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static Vector3d</type>
      <name>GetAngularAccelerationInWorld</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>a87234afd0ced0532d18a989618418b27</anchor>
      <arglist>(State euler)</arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static Vector3d</type>
      <name>GetAngularVelocityInWorld</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
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      <arglist>(const EulerAngles &amp;pos, const EulerRates &amp;vel)</arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static MatrixSXd</type>
      <name>GetM</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>ac59ec5151af6e5dcba88d2dce4a5fc6f</anchor>
      <arglist>(const EulerAngles &amp;xyz)</arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static MatrixSXd</type>
      <name>GetMdot</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
      <anchor>acc1c90c7ebd490ef1feebfc990370104</anchor>
      <arglist>(const EulerAngles &amp;xyz, const EulerRates &amp;xyz_d)</arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static Eigen::Quaterniond</type>
      <name>GetQuaternionBaseToWorld</name>
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      <anchor>a94e0f184121709968277374bbe3a89e5</anchor>
      <arglist>(const EulerAngles &amp;pos)</arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static MatrixSXd</type>
      <name>GetRotationMatrixBaseToWorld</name>
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      <arglist>(const EulerAngles &amp;xyz)</arglist>
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    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
      <name>euler_</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jac_wrt_nodes_structure_</name>
      <anchorfile>classtowr_1_1EulerConverter.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
      <name>FillJacobianBlock</name>
      <anchorfile>classtowr_1_1ForceConstraint.html</anchorfile>
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      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
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      <name>ForceConstraint</name>
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      <arglist>(const HeightMap::Ptr &amp;terrain, double force_limit_in_normal_direction, EE endeffector_id)</arglist>
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    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1ForceConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>VectorXd</type>
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      <anchorfile>classtowr_1_1ForceConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>(const VariablesPtr &amp;x) override</arglist>
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      <arglist>()</arglist>
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      <type>EE</type>
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      <arglist></arglist>
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      <type>PhaseNodes::Ptr</type>
      <name>ee_force_</name>
      <anchorfile>classtowr_1_1ForceConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>PhaseNodes::Ptr</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classtowr_1_1ForceConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <arglist></arglist>
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      <type>std::vector&lt; int &gt;</type>
      <name>pure_stance_force_node_ids_</name>
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      <arglist></arglist>
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      <type>HeightMap::Ptr</type>
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      <anchorfile>classtowr_1_1ForceConstraint.html</anchorfile>
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      <arglist></arglist>
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      <name>Direction</name>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>GetDerivativeOfHeightWrt</name>
      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(Dim2D dim, double x, double y) const </arglist>
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      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(Direction direction, Dim2D dim, double x, double y) const </arglist>
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      <type>double</type>
      <name>GetFrictionCoeff</name>
      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>GetHeight</name>
      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(double x, double y) const =0</arglist>
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      <type>Vector3d</type>
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      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(Direction direction, double x, double y) const </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_1HeightMap.html</anchorfile>
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      <arglist>(Direction direction, double x, double y, const DimDerivs &amp;dim_deriv={}) const </arglist>
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      <type>Vector3d</type>
      <name>GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex</name>
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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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      <type>virtual double</type>
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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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      <name>GetNormal</name>
      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(double x, double y, const DimDerivs &amp;={}) const </arglist>
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      <name>GetSecondDerivativeOfHeightWrt</name>
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      <arglist>(Dim2D dim1, Dim2D dim2, double x, double y) const </arglist>
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      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(double x, double y, const DimDerivs &amp;={}) const </arglist>
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      <anchorfile>classtowr_1_1HeightMap.html</anchorfile>
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      <arglist>(double x, double y, const DimDerivs &amp;={}) const </arglist>
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      <type>virtual Vector3d</type>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(int n_ee)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <type>EEPos</type>
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      <arglist></arglist>
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      <arglist>(std::string var_set, Jacobian &amp;) const override final</arglist>
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      <arglist>() const override final</arglist>
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      <arglist>() const override final</arglist>
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      <arglist>(const MatrixXd &amp;M, const VectorXd &amp;v, const std::string &amp;variable_set)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>GetConstraints</name>
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      <arglist>() const </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></arglist>
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      <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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      <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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      <type>VecTimes</type>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(EEID ee) const </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></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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      <type>void</type>
      <name>AddObserver</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>(PhaseDurationsObserver *const spline)</arglist>
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    <member kind="function">
      <type>VecBound</type>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>Jacobian</type>
      <name>GetJacobianOfPos</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>(int phase, const VectorXd &amp;dx_dT, const VectorXd &amp;xd) const </arglist>
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      <type>VecDurations</type>
      <name>GetPhaseDurations</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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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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      <type>bool</type>
      <name>IsContactPhase</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist>(double t) const </arglist>
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      <name>PhaseDurations</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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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>
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      <arglist>() const </arglist>
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      <type>VecDurations</type>
      <name>durations_</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initial_contact_state_</name>
      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
      <anchor>ad8bbe86f94f8c1203ea01d3ec53bca9f</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; PhaseDurationsObserver * &gt;</type>
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      <anchorfile>classtowr_1_1PhaseDurations.html</anchorfile>
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      <arglist></arglist>
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      <type>ifopt::Bounds</type>
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      <arglist></arglist>
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      <type>double</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>(PhaseDurationsSubjectPtr phase_durations)</arglist>
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      <name>UpdatePolynomialDurations</name>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>PhaseDurationsSubjectPtr</type>
      <name>phase_durations_</name>
      <anchorfile>classtowr_1_1PhaseDurationsObserver.html</anchorfile>
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      <arglist></arglist>
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      <name>Type</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist></arglist>
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      <name>Force</name>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist></arglist>
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      <type>virtual VecDurations</type>
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      <arglist>(const VecDurations &amp;phase_durations) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
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      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(int polynomial_id) const </arglist>
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    <member kind="function">
      <type>NodeIds</type>
      <name>GetIndicesOfNonConstantNodes</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetNodeIDAtStartOfPhase</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
      <anchor>a256bc6c37e7fe8eaf71066900d98a0c4</anchor>
      <arglist>(int phase) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; IndexInfo &gt;</type>
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      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
      <anchor>a79a48eeed9f9e91ce9ad1e463c5cf120</anchor>
      <arglist>(int idx) const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>GetNumberOfPrevPolynomialsInPhase</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(int polynomial_id) const </arglist>
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      <type>int</type>
      <name>GetPhase</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(int node_id) const </arglist>
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      <type>Eigen::Vector3d</type>
      <name>GetValueAtStartOfPhase</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(int phase) const </arglist>
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      <type>virtual bool</type>
      <name>IsConstantNode</name>
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      <arglist>(int node_id) const </arglist>
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      <arglist>(int polynomial_id) const </arglist>
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      <name>PhaseNodes</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(int phase_count, bool in_contact_start, const std::string &amp;var_name, int n_polys_in_changing_phase, Type type)</arglist>
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      <name>~PhaseNodes</name>
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      <arglist>()</arglist>
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      <type>std::vector&lt; int &gt;</type>
      <name>GetAdjacentPolyIds</name>
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      <arglist>(int node_id) const </arglist>
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      <type>int</type>
      <name>GetPolyIDAtStartOfPhase</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(int phase) const </arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>SetBoundsEEForce</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
      <anchor>acc98a12ba2262f4a0af2ebaab70fc9ee</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>SetBoundsEEMotion</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
      <anchor>a62cfd61585476a73a2e6d0de361cdea7</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private" static="yes">
      <type>static std::map&lt; OptNodeIs, NodeIds &gt;</type>
      <name>GetOptNodeToNodeMappings</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
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      <arglist>(const std::vector&lt; PolyInfo &gt; &amp;)</arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; OptNodeIs, NodeIds &gt;</type>
      <name>optnode_to_node_</name>
      <anchorfile>classtowr_1_1PhaseNodes.html</anchorfile>
      <anchor>a38266b6fd979cbfc549c24d90e1f0fbd</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; PolyInfo &gt;</type>
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      <arglist></arglist>
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    <name>towr::PhaseNodes::PolyInfo</name>
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    <member kind="function">
      <type></type>
      <name>PolyInfo</name>
      <anchorfile>structtowr_1_1PhaseNodes_1_1PolyInfo.html</anchorfile>
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      <arglist>(int phase, int poly_in_phase, int n_polys_in_phase, bool is_const)</arglist>
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    <member kind="variable">
      <type>bool</type>
      <name>is_constant_</name>
      <anchorfile>structtowr_1_1PhaseNodes_1_1PolyInfo.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>n_polys_in_phase_</name>
      <anchorfile>structtowr_1_1PhaseNodes_1_1PolyInfo.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>phase_</name>
      <anchorfile>structtowr_1_1PhaseNodes_1_1PolyInfo.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>poly_in_phase_</name>
      <anchorfile>structtowr_1_1PhaseNodes_1_1PolyInfo.html</anchorfile>
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      <arglist></arglist>
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    <base>towr::NodeSpline</base>
    <base>towr::PhaseDurationsObserver</base>
    <member kind="function">
      <type>Jacobian</type>
      <name>GetJacobianOfPosWrtDurations</name>
      <anchorfile>classtowr_1_1PhaseSpline.html</anchorfile>
      <anchor>ab0bdac0c7bfbdd2122384249d6f63f32</anchor>
      <arglist>(double t) const override</arglist>
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      <name>PhaseSpline</name>
      <anchorfile>classtowr_1_1PhaseSpline.html</anchorfile>
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      <arglist>(PhaseNodes::Ptr const node_variables, PhaseDurations *const phase_durations)</arglist>
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      <type>virtual void</type>
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      <anchorfile>classtowr_1_1PhaseSpline.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>~PhaseSpline</name>
      <anchorfile>classtowr_1_1PhaseSpline.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>Eigen::VectorXd</type>
      <name>GetDerivativeOfPosWrtPhaseDuration</name>
      <anchorfile>classtowr_1_1PhaseSpline.html</anchorfile>
      <anchor>a4943ab70edc0d68e2fa4ac358d8cc0b8</anchor>
      <arglist>(double t) const </arglist>
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      <type>PhaseNodes::Ptr</type>
      <name>phase_nodes_</name>
      <anchorfile>classtowr_1_1PhaseSpline.html</anchorfile>
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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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      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
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      <arglist></arglist>
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      <name>H</name>
      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
      <name>GetDerivativeWrtCoeff</name>
      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
      <anchor>afb3cd75604610813a7206daab93d8de2</anchor>
      <arglist>(double t, Dx poly_deriv, Coefficients coeff) const </arglist>
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      <name>GetPoint</name>
      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
      <anchor>a477b8f3237101b608ec86c9824d91270</anchor>
      <arglist>(double t) const </arglist>
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      <name>Polynomial</name>
      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
      <anchor>a07bf79b425eea20aad175a45fead9edb</anchor>
      <arglist>(int poly_order, int poly_dim)</arglist>
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      <name>~Polynomial</name>
      <anchorfile>classtowr_1_1Polynomial.html</anchorfile>
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      <arglist>()</arglist>
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      <type>std::vector&lt; VectorXd &gt;</type>
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      <arglist></arglist>
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      <type>CoeffIDVec</type>
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      <arglist></arglist>
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    <base>towr::TimeDiscretizationConstraint</base>
    <member kind="function">
      <type></type>
      <name>RangeOfMotionConstraint</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>af5b734b787ee246d962bf3eae82b01b4</anchor>
      <arglist>(const KinematicModel::Ptr &amp;robot_model, const Parameters &amp;params, const EE &amp;ee, const SplineHolder &amp;spline_holder)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RangeOfMotionConstraint</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a104a89a27746863824ae7016cd8b3a00</anchor>
      <arglist>()</arglist>
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    <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>
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    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
      <anchor>a1819e4dca16f956ffa3be273e8bd73ef</anchor>
      <arglist>(double t, int k, std::string, Jacobian &amp;) const override</arglist>
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    <member kind="variable" protection="private">
      <type>EulerConverter</type>
      <name>base_angular_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>NodeSpline::Ptr</type>
      <name>base_linear_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>EE</type>
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      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
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      <arglist></arglist>
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      <type>Eigen::Vector3d</type>
      <name>max_deviation_from_nominal_</name>
      <anchorfile>classtowr_1_1RangeOfMotionConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::Vector3d</type>
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      <arglist></arglist>
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      <type>DynamicModel::Ptr</type>
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      <arglist></arglist>
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      <arglist></arglist>
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    <filename>classtowr_1_1SoftConstraint.html</filename>
    <member kind="function">
      <type></type>
      <name>SoftConstraint</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <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>
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      <arglist>()</arglist>
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    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <arglist>() const override final</arglist>
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    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual 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" virtualness="virtual">
      <type>virtual VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>(const VectorXd &amp;x) override final</arglist>
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      <type>VectorXd</type>
      <name>b_</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>ConstraintPtr</type>
      <name>constraint_</name>
      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>VectorXd</type>
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      <anchorfile>classtowr_1_1SoftConstraint.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <filename>classtowr_1_1Spline.html</filename>
    <member kind="function">
      <type>const State</type>
      <name>GetPoint</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
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      <arglist>(double t) const </arglist>
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      <name>GetPoint</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
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      <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>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetPolynomialCount</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>GetTotalTime</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
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      <arglist>() const </arglist>
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      <arglist>(const VecTimes &amp;poly_durations, int n_dim)</arglist>
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      <anchorfile>classtowr_1_1Spline.html</anchorfile>
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      <arglist>()</arglist>
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      <name>GetSegmentID</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
      <anchor>acb2b4e6693cff7bea8eb3f32452d42a2</anchor>
      <arglist>(double t_global, const VecTimes &amp;durations)</arglist>
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      <type>std::pair&lt; int, double &gt;</type>
      <name>GetLocalTime</name>
      <anchorfile>classtowr_1_1Spline.html</anchorfile>
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      <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>
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    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>ad820b44fb523b46ff2d27e7e784d5f87</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>a6a872636ba26d70acf5972451978db30</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type></type>
      <name>SplineAccConstraint</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
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      <arglist>(const NodeSpline::Ptr &amp;spline, std::string name)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SplineAccConstraint</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
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      <arglist>()</arglist>
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      <type>int</type>
      <name>n_dim_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>acf4eb6fee8ee85b90ac4e4ffc3851b05</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_junctions_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>aebc34b69f7daec1c21df66a65a353791</anchor>
      <arglist></arglist>
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    <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>
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    <member kind="variable" protection="private">
      <type>NodeSpline::Ptr</type>
      <name>spline_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
      <anchor>a4e8a2405a268ef9ec89babadf914f4cf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>T_</name>
      <anchorfile>classtowr_1_1SplineAccConstraint.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="function">
      <type></type>
      <name>SplineHolder</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
      <anchor>a3404b4808ba1ff6fd86a0729c95a344d</anchor>
      <arglist>(Nodes::Ptr base_lin, Nodes::Ptr base_ang, const std::vector&lt; double &gt; &amp;base_poly_durations, std::vector&lt; PhaseNodes::Ptr &gt; ee_motion, std::vector&lt; PhaseNodes::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>
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      <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>
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    <member kind="variable">
      <type>std::vector&lt; PhaseDurations::Ptr &gt;</type>
      <name>phase_durations_</name>
      <anchorfile>structtowr_1_1SplineHolder.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type>const VectorXd</type>
      <name>a</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>const VectorXd</type>
      <name>at</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>a77ce454d97f40d0c991d4ce1998656c4</anchor>
      <arglist>(Dx deriv) const </arglist>
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    <member kind="function">
      <type>VectorXd &amp;</type>
      <name>at</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>af75250b16c773404e37bf9367c4d05ca</anchor>
      <arglist>(Dx deriv)</arglist>
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    <member kind="function">
      <type>const VectorXd</type>
      <name>p</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>a0d53993ea7e93184cb7c2010f14913ab</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>State</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
      <anchor>aa55d5d87dbc2478022d0be1cf37a1bcd</anchor>
      <arglist>(int dim, int n_derivatives)</arglist>
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    <member kind="function">
      <type>const VectorXd</type>
      <name>v</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~State</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; VectorXd &gt;</type>
      <name>values_</name>
      <anchorfile>classtowr_1_1State.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <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>
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    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a1ec6aa8736f72a9d9af9e26899266e59</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a184b57887ca9e1c157c60cec4d4e0bdb</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>InitVariableDependedQuantities</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>a05f82d8519363330cf4b044cc492249b</anchor>
      <arglist>(const VariablesPtr &amp;x) override</arglist>
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      <type></type>
      <name>SwingConstraint</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
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      <arglist>(std::string ee_motion_id)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SwingConstraint</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>PhaseNodes::Ptr</type>
      <name>ee_motion_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
      <anchor>afadf489e3bc545841227c2bd78705df4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>ee_motion_id_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
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      <arglist></arglist>
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    <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>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>t_swing_avg_</name>
      <anchorfile>classtowr_1_1SwingConstraint.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <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>
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    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a773c94a18b3a4f8d38bea68c48b4f9cc</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a01283a09855909fa31d9da99dc7371a7</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>InitVariableDependedQuantities</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
      <anchor>a837de5fc54b6c2840a7beea478072b60</anchor>
      <arglist>(const VariablesPtr &amp;x) override</arglist>
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    <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>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TerrainConstraint</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>PhaseNodes::Ptr</type>
      <name>ee_motion_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>std::string</type>
      <name>ee_motion_id_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; int &gt;</type>
      <name>node_ids_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>HeightMap::Ptr</type>
      <name>terrain_</name>
      <anchorfile>classtowr_1_1TerrainConstraint.html</anchorfile>
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      <arglist></arglist>
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    <filename>classtowr_1_1TimeDiscretizationConstraint.html</filename>
    <member kind="function">
      <type>void</type>
      <name>FillJacobianBlock</name>
      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
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    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>GetValues</name>
      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <name>TimeDiscretizationConstraint</name>
      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>(double T, double dt, std::string constraint_name)</arglist>
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      <name>TimeDiscretizationConstraint</name>
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      <arglist>(const VecTimes &amp;dts, std::string name)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TimeDiscretizationConstraint</name>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>int</type>
      <name>GetNumberOfNodes</name>
      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="variable" protection="protected">
      <type>VecTimes</type>
      <name>dts_</name>
      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" protection="private" virtualness="pure">
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      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>(double t, int k, VecBound &amp;b) const =0</arglist>
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    <member kind="function" protection="private" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
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      <arglist>(double t, int k, VectorXd &amp;g) const =0</arglist>
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    <member kind="function" protection="private" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classtowr_1_1TimeDiscretizationConstraint.html</anchorfile>
      <anchor>a2e5d2d7dfe92b4f6316869e02902770b</anchor>
      <arglist>(double t, int k, std::string var_set, Jacobian &amp;jac) const =0</arglist>
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    <member kind="function">
      <type>void</type>
      <name>FillJacobianBlock</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
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      <arglist>(std::string var_set, Jacobian &amp;) const override</arglist>
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    <member kind="function">
      <type>VecBound</type>
      <name>GetBounds</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <name>GetValues</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>InitVariableDependedQuantities</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
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      <arglist>(const VariablesPtr &amp;x) override</arglist>
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    <member kind="function">
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      <name>TotalDurationConstraint</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
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      <arglist>(double T_total, int ee)</arglist>
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    <member kind="function">
      <type></type>
      <name>~TotalDurationConstraint</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
      <anchor>aa53000366c9f42ff0b44582a5d5c5c63</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>EE</type>
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      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PhaseDurations::Ptr</type>
      <name>phase_durations_</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
      <anchor>a19d385aea664c25db1875f9493a08e12</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>T_total_</name>
      <anchorfile>classtowr_1_1TotalDurationConstraint.html</anchorfile>
      <anchor>a69792e6c31f0af719ace297fed40c8ba</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>towr::TOWR</name>
    <filename>classtowr_1_1TOWR.html</filename>
    <member kind="function">
      <type>int</type>
      <name>GetIterationCount</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>a6ee01e606497796cbd3a548a7b257c12</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>SplineHolder</type>
      <name>GetSolution</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>aa527f7bceb2be57109fc71f31a65bd04</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetInitialState</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>ac75d6fe6a6500beda5255ff159702022</anchor>
      <arglist>(const BaseState &amp;base, const FeetPos &amp;feet)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetParameters</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>a098cb09792f3ef0e79fd92017d832178</anchor>
      <arglist>(const BaseState &amp;final_base, const Parameters &amp;params, const RobotModel &amp;model, HeightMap::Ptr terrain)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetSolution</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>a3081e21eabf115178d7c84499d85f748</anchor>
      <arglist>(int solver_iteration)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SolveNLP</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>a4700066fa888836ba7f8351487bc6b97</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TOWR</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>ae11a2f2a9821bae9e610e7f9df87cc17</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TOWR</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>aeb31192ace02abeff8e27545aa7f5343</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>ifopt::Problem</type>
      <name>BuildNLP</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>a671148e542aa05553368ab1cdfebc8e0</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>NlpFactory</type>
      <name>factory_</name>
      <anchorfile>classtowr_1_1TOWR.html</anchorfile>
      <anchor>a0c7c2acf7c6309e2aeb61638282505a2</anchor>
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