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      <arglist>(UnconstrainedEndPoseProblemPtr problem, const double eps=1e-5)</arglist>
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      <arglist>(UnconstrainedEndPoseProblemPtr problem)</arglist>
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      <arglist>(UnconstrainedTimeIndexedProblemPtr problem)</arglist>
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      <arglist>(Eigen::MatrixXdRefConst Xref, Eigen::MatrixXdRefConst Yref, Eigen::MatrixXdRefConst Jref, UnconstrainedEndPoseProblemPtr problem, const double eps=1e-5)</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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      <name>AssignScene</name>
      <anchorfile>classexotica_1_1CollisionCheck.html</anchorfile>
      <anchor>acdae0501a84ec9755ffeae5117a148c8</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1CollisionCheck.html</anchorfile>
      <anchor>a380a2d659574ada7c2b605b89a0b2d3d</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1CollisionCheck.html</anchorfile>
      <anchor>a8e3af4017b1ef0558aebd2f1302b13bc</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1CollisionCheck.html</anchorfile>
      <anchor>aa1ad6e0b6042b818c604abe97e07bfe8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>CollisionScenePtr</type>
      <name>cscene_</name>
      <anchorfile>classexotica_1_1CollisionCheck.html</anchorfile>
      <anchor>a968a1a8c9387259ce2d8505ffed4eba5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::CollisionDistance</name>
    <filename>classexotica_1_1CollisionDistance.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; CollisionDistanceInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>ace90b12a53212802f4d8f6acd1f2e82f</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; CollisionProxy &gt;</type>
      <name>get_collision_proxies</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a0ebe6ba90d4b657acd53047b28e0de17</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>ae890e061a3e50afc869a5a1c69319a85</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>ad0ea3c3daed7c7b09066d77f2a6151d7</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a147afffdb12255c888e66e9349002b5b</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a6080c1543434c72e1e3d9d6646f2db94</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateInternal</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>acc8d5a40d6882d3d1fb9f29a94bc7539</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian=true)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>check_self_collision_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a08436ba354621c31185b81eb40286e65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; CollisionProxy &gt;</type>
      <name>closest_proxies_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a21f30b1fbf9d061f1b7d1f614968f1af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, std::vector&lt; std::string &gt; &gt;</type>
      <name>controlled_joint_to_collision_link_map_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>ad33a8e55261fb05f190a177f34a8d07f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>CollisionScenePtr</type>
      <name>cscene_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a00b7f7ed4eb2cf93e980be8c0a46aae4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>dim_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a94b9f1d39fbb9bd938c3b6bbd93b4014</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>robot_joints_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a1c0a0683d07b81fe4e995f82018cca29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>robot_margin_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a48a82739c0e02ed1e939f1466dfb9eb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>world_margin_</name>
      <anchorfile>classexotica_1_1CollisionDistance.html</anchorfile>
      <anchor>a44094d3ac313931b53fce7bfbf1b72bd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::ContinuousJointPose</name>
    <filename>classexotica_1_1ContinuousJointPose.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; ContinuousJointPoseInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>aef3fd3dc4ee9411306a7ccf103274ddf</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>a135f68ccf632d541e034f0c69c9464d6</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>a8cd8bfa55f65bc695acf85089b19fd2f</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>a01d10e8211180133e5579569f909998d</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>aabc2e056956e20c542047691da996644</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>joint_map_</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>a5f4691cd1434a782e6e0a9676b7b2062</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N_</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>a9cb6f9a1653a47566038c9841ad825df</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1ContinuousJointPose.html</anchorfile>
      <anchor>a63d06a4866acfbbfd81bea0d497a27be</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::ControlRegularization</name>
    <filename>classexotica_1_1ControlRegularization.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; ControlRegularizationInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>ac43c3ffd6f8050faf84cbd3b7c0b0d78</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; int &gt; &amp;</type>
      <name>get_joint_map</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a813df9396fd8f6ac797d64c27d1af151</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::VectorXd &amp;</type>
      <name>get_joint_ref</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a72a1e63d7f03434fe50c40b826af4430</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>afbe2c7c629378ccea91242772e59a8aa</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a315bfdb7d26bf79ee20953743a9dbc52</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a97bface8fc372a6268e1a41b131592ac</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>ab5430afdd199d506b4528fda1b42f242</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>ac6d10b4d5b26e79805de77ad9ab9d3be</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a447fecc9174ba1490fa8f68b5b838f45</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a6495d02b66498f20377a20c9ab099890</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>affa39234ff4f921ae71f051698e29a24</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>joint_map_</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a82e748b97ffed5ecfb8005757c306372</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>joint_ref_</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>ae2ec0121531792f9e19fa12dea756881</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>num_controlled_joints_</name>
      <anchorfile>classexotica_1_1ControlRegularization.html</anchorfile>
      <anchor>a4c5652413ca4d0bd111d53bb5aaa6edd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::Distance</name>
    <filename>classexotica_1_1Distance.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; DistanceInitializer &gt;</base>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1Distance.html</anchorfile>
      <anchor>a4cd9c913737fbafedf4119da2382901e</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1Distance.html</anchorfile>
      <anchor>adb2c4ce640426d5581c6a95de01b437b</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1Distance.html</anchorfile>
      <anchor>ad8a4134b17ffd0b6ac1b118878b43f47</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1Distance.html</anchorfile>
      <anchor>a3186b619c6375a643fe5ac8b345d9da3</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::DistanceToLine2D</name>
    <filename>classexotica_1_1DistanceToLine2D.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; DistanceToLine2DInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>a232ec5edbb6bd8392ea2751ba3ceb750</anchor>
      <arglist>(ScenePtr scene) final</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>a216d31eacdc607e9cb362f5034253aa1</anchor>
      <arglist>() final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>a4e4671271085771d15bafb35a56dcf5c</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>a70aacb7ab7abad6da502d3a9438c1b32</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) final</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>a978b05c76f43bf323987723b72b00d7b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::MarkerArray</type>
      <name>debug_marker_array_msg_</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>a9f3c50287dcad8aea6cdf6dbdab952e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pub_debug_</name>
      <anchorfile>classexotica_1_1DistanceToLine2D.html</anchorfile>
      <anchor>ac57260b74ebe09dda58b238cfe2c0b19</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>exotica::EffAxisAlignment</name>
    <filename>classexotica_1_1EffAxisAlignment.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffAxisAlignmentInitializer &gt;</base>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>ac95a298004dd0c5a5afab08db391e2a5</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>GetAxis</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a7b506a79f20d8537c31d057d2d85398c</anchor>
      <arglist>(const std::string &amp;frame_name) const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>GetDirection</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a3a1e39a1007d7614da7d1ae1582fc7b4</anchor>
      <arglist>(const std::string &amp;frame_name) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetAxis</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>ab39f89a181bbf4583a7d68e2abe708a9</anchor>
      <arglist>(const std::string &amp;frame_name, const Eigen::Vector3d &amp;axis_in)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetDirection</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>abbf43ee94217c0cf4de8f606c612e762</anchor>
      <arglist>(const std::string &amp;frame_name, const Eigen::Vector3d &amp;dir_in)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a6363573aa3dc0763ee225dc89ce35552</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>ad8c345336ff3c715e1ed179df105100f</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a20e9939a4579767608d6ce2d3422aa22</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>N</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a969626e52544ad8266bf70df67b92de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a5d6171426c0815c7374194dd6a8b3879</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix3Xd</type>
      <name>axis_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a954343459371dd79226269ce6ad2d751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix3Xd</type>
      <name>dir_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>aae4bcc3f8c3a74d218ef0c9f0ddd0cd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>link_axis_position_in_base_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a9b17f8e84f55bd26c5e84e130c645b47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>link_position_in_base_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>aa13712f1f913c5441300699ad063ecfa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::MarkerArray</type>
      <name>msg_debug_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a21f7202ac0ced70a788411df60670a0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_frames_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>a8e9ad17a70eb80186b785666081269cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pub_debug_</name>
      <anchorfile>classexotica_1_1EffAxisAlignment.html</anchorfile>
      <anchor>aa16d8b403cc6f10d1a99d28be468a726</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::EffBox</name>
    <filename>classexotica_1_1EffBox.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffBoxInitializer &gt;</base>
    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>GetLowerLimit</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>ac03fc0caa40bba1b9878e02524c37395</anchor>
      <arglist>(const int eff_id) const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>GetUpperLimit</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>ab0a7190e33833dc5186778e326f2d259</anchor>
      <arglist>(const int eff_id) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a11ca0c1b8c90a550b747d23c898220d5</anchor>
      <arglist>(const EffBoxInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>PublishObjectsAsMarkerArray</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a8281d1c30943a178130558745ed06cde</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a40c145196a04aaea7291b55d01970879</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>aad7499572dcb6ce1e2ecb94e9d5e8020</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>abcf2e8932a7c770896b9da2ae645335b</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>eff_lower_</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>aac8c53da3523f6acd5d27c855b15d163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>eff_upper_</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a18f7d95c3345864560185a59b733818e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_effs_</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a4d57f834b400789fd989277f51180947</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pub_markers_</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a7aa60ebd1740d5e20f9043cc77e83a17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>three_times_n_effs_</name>
      <anchorfile>classexotica_1_1EffBox.html</anchorfile>
      <anchor>a229cb47341b38c285b17b9122da70015</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::EffFrame</name>
    <filename>classexotica_1_1EffFrame.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffFrameInitializer &gt;</base>
    <member kind="function">
      <type>const RotationType &amp;</type>
      <name>get_rotation_type</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>ab1a9014c76c4404158600b97c99085ad</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; TaskVectorEntry &gt;</type>
      <name>GetLieGroupIndices</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>a24306206b96d9550676321de5ce1b811</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>ae37b518b51b82f3d3af971b572831276</anchor>
      <arglist>(const EffFrameInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>a7ce1cd28487c6ece6ab7cd67540b7f40</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceJacobianDim</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>ab036a835ff6336d0728132a01b3aa693</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>a4ed0c8f02f9344ca007e3e860571d37b</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>a42add2a4685064b0d46e0fb21ee4c916</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>a67292a8e124c06c74bae70def94da57c</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>big_stride_</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>ad30dcfd55be5c4f56df4ac8ea0d0b9c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RotationType</type>
      <name>rotation_type_</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>ab4817b0f04e8ca3b10c6996e7e599efb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>small_stride_</name>
      <anchorfile>classexotica_1_1EffFrame.html</anchorfile>
      <anchor>ae35ab3c107b7035d46d5a8e56f7e4760</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::EffOrientation</name>
    <filename>classexotica_1_1EffOrientation.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffOrientationInitializer &gt;</base>
    <member kind="function">
      <type>const RotationType &amp;</type>
      <name>get_rotation_type</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>ab052e0b47adc6cadd063b62226ffabfa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; TaskVectorEntry &gt;</type>
      <name>GetLieGroupIndices</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>a7c305ebdad717aeb95830c03a8c40355</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>aca99bac08099c429e96a5bd2def6bbd7</anchor>
      <arglist>(const EffOrientationInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>aaaf5e207cc75a5fb4ac3b9b783320312</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceJacobianDim</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>a3d7ee84256d1efd972d71b866c69acbf</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>ae2a97a12f4eb1ababf16fd2ef937894e</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>a00ca2e88f3010680b40cf4da4e98622e</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>aa62f38a57400931ab021e3457940e3e7</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RotationType</type>
      <name>rotation_type_</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>a8afc616ac7a4bbbaf870fcb6f2ba41f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>stride_</name>
      <anchorfile>classexotica_1_1EffOrientation.html</anchorfile>
      <anchor>a49ec8f2aa0aa3c380c1a8aa621684512</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::EffPosition</name>
    <filename>classexotica_1_1EffPosition.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffPositionInitializer &gt;</base>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffPosition.html</anchorfile>
      <anchor>a075b875885685a0c4ff852437ef0c4a6</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffPosition.html</anchorfile>
      <anchor>a3a98abdd5c57b5eeba3923d534603d4f</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffPosition.html</anchorfile>
      <anchor>a1955f3b7f36dd23621111a01a349e8e5</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffPosition.html</anchorfile>
      <anchor>a25245c1d290e44fd5a41337799d7d2ba</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::EffPositionXY</name>
    <filename>classexotica_1_1EffPositionXY.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffPositionXYInitializer &gt;</base>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffPositionXY.html</anchorfile>
      <anchor>a916e6eeaf498bee5f8cac0ca2cdabac5</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffPositionXY.html</anchorfile>
      <anchor>ab8293a3cca98a5e038ab5084e1de7bb1</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffPositionXY.html</anchorfile>
      <anchor>ada45ac03f0de30b42066ba6aeb8497f4</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffPositionXY.html</anchorfile>
      <anchor>a2fa95b7604901004e23a0e46d6d476bf</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::EffVelocity</name>
    <filename>classexotica_1_1EffVelocity.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; EffVelocityInitializer &gt;</base>
    <member kind="function">
      <type></type>
      <name>EffVelocity</name>
      <anchorfile>classexotica_1_1EffVelocity.html</anchorfile>
      <anchor>a9e6ec5223df36af09a105d8d8b4e528a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1EffVelocity.html</anchorfile>
      <anchor>ad7209740b52507f688e99e9547fbc245</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffVelocity.html</anchorfile>
      <anchor>ad53a58e75180a4a80174b8b53fbe767d</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1EffVelocity.html</anchorfile>
      <anchor>adfb4556ecb03b275a2bd85e1ffa46618</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~EffVelocity</name>
      <anchorfile>classexotica_1_1EffVelocity.html</anchorfile>
      <anchor>a0a156db96bf8804fd8bb7cf33bc4a323</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::GazeAtConstraint</name>
    <filename>classexotica_1_1GazeAtConstraint.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; GazeAtConstraintInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1GazeAtConstraint.html</anchorfile>
      <anchor>a23fc5bddf9dc0bb5f9d19858048f25c0</anchor>
      <arglist>(const GazeAtConstraintInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1GazeAtConstraint.html</anchorfile>
      <anchor>a9b276b1731b0f90147a789b0d26a5ff8</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1GazeAtConstraint.html</anchorfile>
      <anchor>a2e32fd30ff86cf6b51388c7f81d6b7e5</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1GazeAtConstraint.html</anchorfile>
      <anchor>ab48482ca1d7625ce1e8b03875a8e5275</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>tan_theta_squared_</name>
      <anchorfile>classexotica_1_1GazeAtConstraint.html</anchorfile>
      <anchor>ad67c111227a3d9e2242d7ff3252dc8bb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::InteractionMesh</name>
    <filename>classexotica_1_1InteractionMesh.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; InteractionMeshInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a4047ddf5fa1a2007de99c6ff8e813159</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ComputeGoalLaplace</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a54da3b4c05c277e199cab0ca2fc84160</anchor>
      <arglist>(const Eigen::VectorXd &amp;x, Eigen::VectorXd &amp;goal)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>GetWeights</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>ac7671fffabe241270f1b6a5463c44924</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>aea13a3f0c31e3d0b4b31675bb5dcd01d</anchor>
      <arglist>(const InteractionMeshInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InteractionMesh</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a35d9910e7f6bda2b80d7f7f11dd8975d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetWeight</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a6bee0f43a3b6736e1661fc92f5ebc742</anchor>
      <arglist>(int i, int j, double weight)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetWeights</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>abd725c7e9ec06ca69ebf0af1d388c762</anchor>
      <arglist>(const Eigen::MatrixXd &amp;weights)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>acb175ee371017b66a7d42088a815d5ec</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a4d211106e3fae927119210a8243eb04d</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>ab9662ffcba8b985d80411cd58ccb97fc</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InteractionMesh</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>adda1df1c61ae55c42dc6bbea8317803e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ComputeGoalLaplace</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a7a5213bba2dadba6acf540409db3e09a</anchor>
      <arglist>(const std::vector&lt; KDL::Frame &gt; &amp;nodes, Eigen::VectorXd &amp;goal, Eigen::MatrixXdRefConst weights)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::VectorXd</type>
      <name>ComputeLaplace</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a48accc42f674d26993ea0a69e9d29001</anchor>
      <arglist>(Eigen::VectorXdRefConst eff_Phi, Eigen::MatrixXdRefConst weights, Eigen::MatrixXd *dist=nullptr, Eigen::VectorXd *wsum=nullptr)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>Debug</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a50a33a82018ada80a338688b491a265e</anchor>
      <arglist>(Eigen::VectorXdRefConst phi)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>DestroyDebug</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>aa2528a50b98cf0bcd9a74f2cc9089002</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>InitializeDebug</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a4d63b227fe5f1c370fddb436ff31e1dd</anchor>
      <arglist>(std::string ref)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>eff_size_</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a8b609c877c7bc997a7ab9157f51ab226</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>visualization_msgs::Marker</type>
      <name>imesh_mark_</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>ac38bdd630eb1ce2cce19af9b5989e18e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>imesh_mark_pub_</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a14e54b1d0585f1919d0256a75ef08552</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::MatrixXd</type>
      <name>weights_</name>
      <anchorfile>classexotica_1_1InteractionMesh.html</anchorfile>
      <anchor>a788bed76c207d5b40648490842f8cd15</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>exotica::JointAccelerationBackwardDifference</name>
    <filename>classexotica_1_1JointAccelerationBackwardDifference.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointAccelerationBackwardDifferenceInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a7de4485f5c7bf0a27bb3436e8556420c</anchor>
      <arglist>(ScenePtr scene) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetPreviousJointState</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a05e85c544f68e0878ed8aaa189e94380</anchor>
      <arglist>(Eigen::VectorXdRefConst joint_state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a0d1f3a868d974d507f889bfe8bcfb226</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>ae34274ec9d0b7cefcd9f9c0fc3347c14</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>adec6ffc9eba1f88c266eacaca24f688f</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>backward_difference_params_</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a0945c3848db98f9194056d87b15b528f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>I_</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a5672906ea37acc2e1846d07e73d0f9f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>N_</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a202da50ca4bc96dbeb0263debb53a22c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>q_</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>a492a0f4e1cf2fd90a442bc33d0b7a97f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>qbd_</name>
      <anchorfile>classexotica_1_1JointAccelerationBackwardDifference.html</anchorfile>
      <anchor>aa87619e0f6ca1b2dc06625db68ae2b19</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::JointJerkBackwardDifference</name>
    <filename>classexotica_1_1JointJerkBackwardDifference.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointJerkBackwardDifferenceInitializer &gt;</base>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>a9a5d9d13e5f48ae186ce61903b54a4ff</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetPreviousJointState</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>a966d262d6c6851d6e29a72ea39d02f9c</anchor>
      <arglist>(Eigen::VectorXdRefConst joint_state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>a915d66d3e87bcaf24cb8275311e4caa6</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>a5457918a9f90b7fef9a56c465766c255</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>a12d9c8384ed6f3e3216c2de55f5bffd0</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>backward_difference_params_</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>abc314dec87c85535d56d5163c7544606</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>I_</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>a13df134d51f13fdbed3235ed29008701</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>N_</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>ae56c7ae0b244301bd1aebf991c9ef0cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>q_</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>ab14823ef9f964b12445ade299b9999f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>qbd_</name>
      <anchorfile>classexotica_1_1JointJerkBackwardDifference.html</anchorfile>
      <anchor>aceb599a16032568b1e276a65c4612146</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::JointLimit</name>
    <filename>classexotica_1_1JointLimit.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointLimitInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>a7b849b2b21fd73db67a11e5aa3cfa813</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>abb73814b3d2cc0aaacb51f0b36ab3c03</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>a26c03aca2eceebfb36fa6b2c9601950c</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>acd41583f4457e211202e4bd6a2ebcce1</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>aea3d1ddc45d7f83eb245cd4096707140</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>ae534e02a656097924980f59c516f57ff</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>abac6f41d7e47978cad159874d3edb002</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>a40f832da1957c9f18996833d3fdc9589</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>ab97150c1be039b5c9dc1a0ff5c29f4fa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>N</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>a73095ee9021c2714542599ae4aee8043</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>safe_percentage_</name>
      <anchorfile>classexotica_1_1JointLimit.html</anchorfile>
      <anchor>a0fd86c68088f95f4577ad1476413e899</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>exotica::JointPose</name>
    <filename>classexotica_1_1JointPose.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointPoseInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>ad6c2c5c711b112a8c343e39c2ebdc313</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; int &gt; &amp;</type>
      <name>get_joint_map</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a2a65fd3416392e29c9f46caf89c2dede</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::VectorXd &amp;</type>
      <name>get_joint_ref</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a25425f84204aba820f743cba1d949b4c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_joint_ref</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>aa7ca8e840c09420c0a4c606fca9ac475</anchor>
      <arglist>(Eigen::VectorXdRefConst ref)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a006ef2b4273fe593e8d8bae7bad85e85</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>aab7a6d6337b5dc6a9b774ecf1d8c4cac</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a8e57f5ad0968a5627a3dbb9a0e5f9b92</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>aab44362e18f17fccc277991c78e3622a</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a14908535feea63e118e1fd3382db4fd4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>joint_map_</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a61b2120a75154221c31dd92f1ccecb77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>joint_ref_</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>ab3ddf569bb55dac44d6d4fd95b1d143a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>num_controlled_joints_</name>
      <anchorfile>classexotica_1_1JointPose.html</anchorfile>
      <anchor>a4318a21936c11e8397fa3c54c21319e4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::JointTorqueMinimizationProxy</name>
    <filename>classexotica_1_1JointTorqueMinimizationProxy.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointTorqueMinimizationProxyInitializer &gt;</base>
    <member kind="function">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>get_h</name>
      <anchorfile>classexotica_1_1JointTorqueMinimizationProxy.html</anchorfile>
      <anchor>ad0954ddafabc694fdfaa888147ee68b6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1JointTorqueMinimizationProxy.html</anchorfile>
      <anchor>af1c9bcb6b77c85171e525750b54686a3</anchor>
      <arglist>(const JointTorqueMinimizationProxyInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_h</name>
      <anchorfile>classexotica_1_1JointTorqueMinimizationProxy.html</anchorfile>
      <anchor>a4987cd7934681a667d4761cae3be830f</anchor>
      <arglist>(const Eigen::Matrix&lt; double, 6, 1 &gt; &amp;h_in)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointTorqueMinimizationProxy.html</anchorfile>
      <anchor>a3a7bbcb889efb0718cec383407c1d629</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointTorqueMinimizationProxy.html</anchorfile>
      <anchor>a76ff4637f542f9060f62c8aaac8a21d1</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>h_</name>
      <anchorfile>classexotica_1_1JointTorqueMinimizationProxy.html</anchorfile>
      <anchor>ab1da4aab742f3eb8b33cff81601537d5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::JointVelocityBackwardDifference</name>
    <filename>classexotica_1_1JointVelocityBackwardDifference.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointVelocityBackwardDifferenceInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>aac0413f9d3830b4516ac6e40a4affd17</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetPreviousJointState</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>a2529d1d968421d653820ce3baa96e3e1</anchor>
      <arglist>(Eigen::VectorXdRefConst joint_state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>a5d3fa165c2198a37e96f4470a12ce220</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>adcd9b1f3837f9617f24624f59ad289c0</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>a895abe1bb806d10028fadb0506bec430</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>backward_difference_params_</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>a2688612543f176d768f0b161297c5193</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>I_</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>aa9ad91d74938bc612dace3ffb638068b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>N_</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>ad648a529ad8cc76613c3062e14e39647</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>q_</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>af5f338203a50806fccff135cdb57dcfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>qbd_</name>
      <anchorfile>classexotica_1_1JointVelocityBackwardDifference.html</anchorfile>
      <anchor>ab93a7c2b1e58720be04bd322d5b40f13</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::JointVelocityLimit</name>
    <filename>classexotica_1_1JointVelocityLimit.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointVelocityLimitInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a5f21d54ff667191f86cd7529cbe2acb3</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointVelocityLimit</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>af532eee22d5124d9298e0d1328da5fbd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>ac2ed892d6f729ddb6d9ee9b1edb0456f</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a8f51c5de72c9af79ceed5d2bd36b82d7</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a1a163a85b1d8e378c75f0829b2b7ec84</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~JointVelocityLimit</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a7108d8695030dd6c292f68379666892f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>ade621c030ca1f049c9ef6314321178c2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>dt_</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a3198bb4f0ef05bab2ad2ed067fd2b2c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>limits_</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>ac614d4668cfc3041cc36bb3833280ce7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>N</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a4ed3ca2a391e2e8dbad65e30f6ad4d2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>tau_</name>
      <anchorfile>classexotica_1_1JointVelocityLimit.html</anchorfile>
      <anchor>a08f28136bf07a994774008535c1ce427</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>exotica::JointVelocityLimitConstraint</name>
    <filename>classexotica_1_1JointVelocityLimitConstraint.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; JointVelocityLimitConstraintInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>aa3bd3a55d194d413a145706624077ab5</anchor>
      <arglist>(ScenePtr scene) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetPreviousJointState</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>afe894089fcb7d3cd551fd43a4846ebb1</anchor>
      <arglist>(Eigen::VectorXdRefConst joint_state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a5356a2cd584fdedd403f826295821d8e</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a850e1d6d646c532fc314bd006ef943a8</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a5e82f81b96c4dbb9eded454eb7ee15d4</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>current_joint_state_</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a42d2d7db6b9921fcc85565fc1557554f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>jacobian_</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a808c7f40e2bf5fd3dbeddf7e17db410c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>joint_velocity_limits_</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a7687439888f4b60ca2da75ae46e6b65c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>N_</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>acbd2f4e602b02df3b9c41f3c8c5060f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>one_divided_by_dt_</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a8d2fff13853b5cc71039f69f2086636f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>two_times_N_</name>
      <anchorfile>classexotica_1_1JointVelocityLimitConstraint.html</anchorfile>
      <anchor>a23ab60d067a8736b562977310bf3ed50</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>exotica::LookAt</name>
    <filename>classexotica_1_1LookAt.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; LookAtInitializer &gt;</base>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1LookAt.html</anchorfile>
      <anchor>a742197bc669c6002e7fe1f41e365ccc9</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1LookAt.html</anchorfile>
      <anchor>aadf0c73b8d7deb1e98ec048304cf2062</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1LookAt.html</anchorfile>
      <anchor>ae43a2c0d2c327e0697ae5c6923b2c04a</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::Manipulability</name>
    <filename>classexotica_1_1Manipulability.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; ManipulabilityInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1Manipulability.html</anchorfile>
      <anchor>ab99593a54acd480ddd2eeda08db6fec6</anchor>
      <arglist>(const ManipulabilityInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1Manipulability.html</anchorfile>
      <anchor>aa4093aa5633e53b7aed2c247a5df52da</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1Manipulability.html</anchorfile>
      <anchor>a3f41c413f1e1287439b74658b19f76e2</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_end_effs_</name>
      <anchorfile>classexotica_1_1Manipulability.html</anchorfile>
      <anchor>a2e4f006b768e0aa602c262966e76e901</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>n_rows_of_jac_</name>
      <anchorfile>classexotica_1_1Manipulability.html</anchorfile>
      <anchor>a390b1282236a27b0909a5e7a6ebba5ef</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::PointToLine</name>
    <filename>classexotica_1_1PointToLine.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; PointToLineInitializer &gt;</base>
    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>GetEndPoint</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>ae6913f139da4dadafeffa3d4d04b1d2f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a3bc40bf480c26e84c9d4f52999f37b2d</anchor>
      <arglist>(const PointToLineInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>PointToLine</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a70fed6e66c943b7475edef5230fada01</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetEndPoint</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a46e976dc201781590d6fd6a80f1339d9</anchor>
      <arglist>(const Eigen::Vector3d &amp;point)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a5e6d6c21d9309ae6e9c12181d3d0253a</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a37b3bb2caf7fb9e5c13abb8bd4c44fe6</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a70a18743d9d260be6b5237a77e055ee2</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PointToLine</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a2d031a48be0a341e12dfb688227d82fa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Vector3d</type>
      <name>Direction</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a07424513444b3f8f356b3337bf9bd29c</anchor>
      <arglist>(const Eigen::Vector3d &amp;point)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_name_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a9be0d942b272888ea870832dc959ebeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>infinite_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>afe6590376845e5c72ba123825886847a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>line_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a4764baa470ae2b9e7d37d6f7118e6ab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>line_end_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a42a0e61d45bc215086d7d9de68b23655</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>line_start_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a396634e8c8722fe9ee5773791dc81ea2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>link_name_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>ac8c80a9560f3134f859fbe3806af9d24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pub_marker_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a7386e4709d545331be2114a1232669e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pub_marker_label_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>aae5a31663c15dd7c84c0ce635a7c234d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>visualize_</name>
      <anchorfile>classexotica_1_1PointToLine.html</anchorfile>
      <anchor>a41e062196be1010d8912b9e1ce94dd20</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>exotica::PointToPlane</name>
    <filename>classexotica_1_1PointToPlane.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; PointToPlaneInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>ac5ae1b3f960d305de50fd23ab48dc0fc</anchor>
      <arglist>(const PointToPlaneInitializer &amp;init) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>a7aa8ffff134105b40d3859b40c5b198e</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>ae6491cf40a892557ec5abb357b4f67fe</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>a6dce9db1b5edc93007bc493b07c5e758</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>a3737b0499741c16feec7aed636c5a8fa</anchor>
      <arglist>(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>PublishDebug</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>a6d0862b590615ba236a4b2076bde8861</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>debug_pub_</name>
      <anchorfile>classexotica_1_1PointToPlane.html</anchorfile>
      <anchor>a67ab4f67988ddaf012de05b2c3106673</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::QuasiStatic</name>
    <filename>classexotica_1_1QuasiStatic.html</filename>
    <base>exotica::TaskMap</base>
    <base>Instantiable&lt; QuasiStaticInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AssignScene</name>
      <anchorfile>classexotica_1_1QuasiStatic.html</anchorfile>
      <anchor>a17e8febac52d5c8a2004a1253c125219</anchor>
      <arglist>(ScenePtr scene) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>QuasiStatic</name>
      <anchorfile>classexotica_1_1QuasiStatic.html</anchorfile>
      <anchor>a7bfe5b70f66c39bacbdf527ca8a56445</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>TaskSpaceDim</name>
      <anchorfile>classexotica_1_1QuasiStatic.html</anchorfile>
      <anchor>a78974fbf0f8122d73dd01b3f321aa3cb</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1QuasiStatic.html</anchorfile>
      <anchor>aeecbaec9455dabea505be37e7eb87f73</anchor>
      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classexotica_1_1QuasiStatic.html</anchorfile>
      <anchor>a748471ae7d7843f3bc7626d1f792fd89</anchor>
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