<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>cartesian_impedance_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>cartesian__impedance__example__controller_8cpp.html</filename>
    <includes id="cartesian__impedance__example__controller_8h" name="cartesian_impedance_example_controller.h" local="no" imported="no">franka_example_controllers/cartesian_impedance_example_controller.h</includes>
    <includes id="pseudo__inversion_8h" name="pseudo_inversion.h" local="no" imported="no">franka_example_controllers/pseudo_inversion.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>cartesian_impedance_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>cartesian__impedance__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::CartesianImpedanceExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>cartesian_pose_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>cartesian__pose__example__controller_8cpp.html</filename>
    <includes id="cartesian__pose__example__controller_8h" name="cartesian_pose_example_controller.h" local="no" imported="no">franka_example_controllers/cartesian_pose_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>cartesian_pose_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>cartesian__pose__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::CartesianPoseExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>cartesian_velocity_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>cartesian__velocity__example__controller_8cpp.html</filename>
    <includes id="cartesian__velocity__example__controller_8h" name="cartesian_velocity_example_controller.h" local="no" imported="no">franka_example_controllers/cartesian_velocity_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>cartesian_velocity_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>cartesian__velocity__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::CartesianVelocityExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>dual_arm_cartesian_impedance_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>dual__arm__cartesian__impedance__example__controller_8cpp.html</filename>
    <includes id="dual__arm__cartesian__impedance__example__controller_8h" name="dual_arm_cartesian_impedance_example_controller.h" local="no" imported="no">franka_example_controllers/dual_arm_cartesian_impedance_example_controller.h</includes>
    <includes id="pseudo__inversion_8h" name="pseudo_inversion.h" local="no" imported="no">franka_example_controllers/pseudo_inversion.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>dual_arm_cartesian_impedance_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>dual__arm__cartesian__impedance__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::DualArmCartesianImpedanceExampleController</class>
    <class kind="struct">franka_example_controllers::FrankaDataContainer</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>dual_arm_interactive_marker.py</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/scripts/</path>
    <filename>dual__arm__interactive__marker_8py.html</filename>
    <namespace>dual_arm_interactive_marker</namespace>
    <member kind="function">
      <type>def</type>
      <name>left_franka_state_callback</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a2b8c14b515389640fd0dfcd9f542bf73</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>make_sphere</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a4a4776e18d30b02fcd5aa69cea3e7f87</anchor>
      <arglist>(scale=0.3)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>process_feedback</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>afedda6582fc6f2b0bd5c4c1e16dc9251</anchor>
      <arglist>(feedback)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_target_pose</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>afe5736dcfad3f21203ce12db0eaf6c87</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>reset_marker_pose_blocking</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aa2f3e89c8afccb99a7aceee8024f7d6d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>right_franka_state_callback</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a45661200829d9728f63a363b7dc340c0</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>always_visible</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a0c4e88aa8a5fd1ea5f74912786ce11f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>args</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a6e82d86ff9b8fe95975de7900f8e2aa3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>control</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a3ec82817bea92c3e2ce70682f3b6d2ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>description</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a8908f0309762fc6b58438bbe9df01ac6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aaa5e3e8f0a8e125d0f02f2d971d0694a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>has_error</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a91bdb7838358a5dc012220bdda750474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>help</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a551f6886fb11c8c7022dabbaff35194e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>int_marker</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a2eebfc53764d8ec847c6f9e58b4a3558</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>interaction_mode</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>abe224eacf607f80c0bb2c0f5389d5996</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>left_arm_id</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ace8a93e369537d92f17b9861d31cb885</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>left_has_error</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aa91188fad3c0fe29eb194de0749d679b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>left_state_sub</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ab3eaf7e9c4ecbae1e8dd0814de4cafe1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>marker_pose</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ae1dc1823850439ceb0256e842fe101af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a784e31cc90b2e3c4eca59faf857bbc06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nargs</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a870908ca0a91fc8808dfe9e398e0f8b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parser</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a5cac52437015f562072ed9f81a317214</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ad1096317d9fe655130ffd6bda9645bbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose_pub</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a1cf87b0dd85b2d2e96272ec48965cb5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>required</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>abafb62c73e0ce1d3e29223d4b249b2cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_arm_id</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a80a58bbac980f1ea20a26676176c5413</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>right_has_error</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a54051039c162d3e6850c7975a2798c43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_state_sub</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ab5b828c74287f71cf83aa46ffc2fc94b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>scale</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aeb3429c5c8fc1b6838571accb54813bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a5eaefed5ff5ae605348f4193b53733a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a586f29d31b76a5c3a968627bf51129c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a622e063064f4b6c5718471de259adb6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a3f9e7d16da8f43f59095da0393541a11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>z</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aee749b160baf172d0162bc67af46c52d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>elbow_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>elbow__example__controller_8cpp.html</filename>
    <includes id="elbow__example__controller_8h" name="elbow_example_controller.h" local="no" imported="no">franka_example_controllers/elbow_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>elbow_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>elbow__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::ElbowExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>force_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>force__example__controller_8cpp.html</filename>
    <includes id="force__example__controller_8h" name="force_example_controller.h" local="no" imported="no">franka_example_controllers/force_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>force_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>force__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::ForceExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>interactive_marker.py</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/scripts/</path>
    <filename>interactive__marker_8py.html</filename>
    <namespace>interactive_marker</namespace>
    <member kind="function">
      <type>def</type>
      <name>process_feedback</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a238f8a9b4fcce2b6fe2200314291af66</anchor>
      <arglist>(feedback)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publisher_callback</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a91528b828cb3a241da3349e36808e7ad</anchor>
      <arglist>(msg, link_name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>wait_for_initial_pose</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a67be86013d379eac7c55688330da5838</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>control</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a8fd433e78cfd74cc72adf0682a6138ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>description</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a8d5149395ebebadc404797fba74b4fbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ac2bed062650fc4b024b550a1176d9913</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>int_marker</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae29f4fcac0d5d63e0fe4542ec4b3fc65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>interaction_mode</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae2bafebdee41a12635569a296fa3bf6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>link_name</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ad4be871390c9720f44a629c719c96923</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>listener</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a0e579ab555212bb5e2c9f8a675b7618a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>marker_pose</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ab05cd11b66bc37f2aee6ea4ee9d9899a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a447655961b3d3ca3c5a2a9d3d769436d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a06e4691dc5f93e0da6dc9a6efa8d99b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose_pub</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a8e8c3785e42901a7610214ff727338ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>position_limits</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>aae45ba5b707ff3b4546ae4bbb9b49b39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>scale</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae2c7b9865bba9817db3359dba96e4507</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a0913a920340099e56f9b000d508380eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a762d2be287d5bc9ccc79401f4c401bd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>acda52804aef30b460a72fb21ee01d69d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a5e45ec67a60dd2f10e5b53a9274e4730</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>z</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae4fadbd064c862c7bd45695a76bb0af4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>joint_impedance_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>joint__impedance__example__controller_8cpp.html</filename>
    <includes id="joint__impedance__example__controller_8h" name="joint_impedance_example_controller.h" local="no" imported="no">franka_example_controllers/joint_impedance_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_impedance_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>joint__impedance__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::JointImpedanceExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_position_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>joint__position__example__controller_8cpp.html</filename>
    <includes id="joint__position__example__controller_8h" name="joint_position_example_controller.h" local="no" imported="no">franka_example_controllers/joint_position_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_position_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>joint__position__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::JointPositionExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_velocity_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>joint__velocity__example__controller_8cpp.html</filename>
    <includes id="joint__velocity__example__controller_8h" name="joint_velocity_example_controller.h" local="no" imported="no">franka_example_controllers/joint_velocity_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_velocity_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>joint__velocity__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::JointVelocityExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_wall.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>joint__wall_8cpp.html</filename>
    <includes id="joint__wall_8h" name="joint_wall.h" local="no" imported="no">franka_example_controllers/joint_wall.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>joint_wall.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>joint__wall_8h.html</filename>
    <class kind="class">franka_example_controllers::JointWall</class>
    <class kind="class">franka_example_controllers::JointWallContainer</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>mainpage.dox</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/</path>
    <filename>mainpage_8dox.html</filename>
  </compound>
  <compound kind="file">
    <name>model_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>model__example__controller_8cpp.html</filename>
    <includes id="model__example__controller_8h" name="model_example_controller.h" local="no" imported="no">franka_example_controllers/model_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>model_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>model__example__controller_8h.html</filename>
    <class kind="class">franka_example_controllers::ModelExampleController</class>
    <namespace>franka_example_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>move_to_start.py</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/scripts/</path>
    <filename>move__to__start_8py.html</filename>
    <namespace>move_to_start</namespace>
    <member kind="variable">
      <type></type>
      <name>action</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a9ee2f53e8bf4ed5a977f8d3d72051395</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>client</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a731c74176b29eae9ff83960488c23434</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>goal</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a79c6548226da3e612843214a12bec517</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>goal_time_tolerance</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a82315f70d6c4e38cb5f7ae317bf6aad3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>initial_pose</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aa84cca5cc5584e544c8f79011e1a2948</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_state</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>ab658e04a521128fd8064c0be1ea066ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_movement</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a238331b12feb17a1b579a6d6f097a903</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>param</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a21893546f68ac751e91941415a7a7767</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>point</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aca0c91405869dd0162a6fba3aaab8f0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a8f6280e42e044233ce02880883d4188c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>positions</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aef9b217ce8cff21cb6476d103704f03d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>result</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aa4dc66ba6dccd51788957a3c5b2b8ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_from_start</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a797c0f77b95511e2d25e3ddb908c0a1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>topic</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aff7e8ce6cb9c1f3f53d729e2e16150f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>velocities</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a6cd7876c3f997a00e49209ce7dfa14b4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pseudo_inversion.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>pseudo__inversion_8h.html</filename>
    <namespace>franka_example_controllers</namespace>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a2ddd8676f7f9bbbbccd48929abcd367a</anchor>
      <arglist>(const Eigen::MatrixXd &amp;M_, Eigen::MatrixXd &amp;M_pinv_, bool damped=true)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>teleop_gripper_node.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>teleop__gripper__node_8cpp.html</filename>
    <class kind="class">TeleopGripperClient</class>
    <member kind="typedef">
      <type>actionlib::SimpleActionClient&lt; GraspAction &gt;</type>
      <name>GraspClient</name>
      <anchorfile>teleop__gripper__node_8cpp.html</anchorfile>
      <anchor>a10a3a6d36402cee586566a072bb1777c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>actionlib::SimpleActionClient&lt; HomingAction &gt;</type>
      <name>HomingClient</name>
      <anchorfile>teleop__gripper__node_8cpp.html</anchorfile>
      <anchor>a400b470cba4360956e3722863b37ff91</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>actionlib::SimpleActionClient&lt; MoveAction &gt;</type>
      <name>MoveClient</name>
      <anchorfile>teleop__gripper__node_8cpp.html</anchorfile>
      <anchor>acc38e07aec425e0108d82d6de8144181</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>actionlib::SimpleActionClient&lt; StopAction &gt;</type>
      <name>StopClient</name>
      <anchorfile>teleop__gripper__node_8cpp.html</anchorfile>
      <anchor>a888f1fd2cb47d75a8169f3a99400fc1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>teleop__gripper__node_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>teleop_joint_pd_example_controller.cpp</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/src/</path>
    <filename>teleop__joint__pd__example__controller_8cpp.html</filename>
    <includes id="joint__wall_8h" name="joint_wall.h" local="no" imported="no">franka_example_controllers/joint_wall.h</includes>
    <includes id="teleop__joint__pd__example__controller_8h" name="teleop_joint_pd_example_controller.h" local="no" imported="no">franka_example_controllers/teleop_joint_pd_example_controller.h</includes>
    <namespace>franka_example_controllers</namespace>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>Vector7d</name>
      <anchorfile>teleop__joint__pd__example__controller_8cpp.html</anchorfile>
      <anchor>a2cbf399372859369b7782e999588db87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const std::string</type>
      <name>kControllerName</name>
      <anchorfile>teleop__joint__pd__example__controller_8cpp.html</anchorfile>
      <anchor>a5cb6d0ace81691410e14ead43abeeb21</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>teleop_joint_pd_example_controller.h</name>
    <path>/tmp/ws/src/franka_ros/franka_example_controllers/include/franka_example_controllers/</path>
    <filename>teleop__joint__pd__example__controller_8h.html</filename>
    <includes id="joint__wall_8h" name="joint_wall.h" local="no" imported="no">franka_example_controllers/joint_wall.h</includes>
    <class kind="struct">franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer</class>
    <class kind="class">franka_example_controllers::TeleopJointPDExampleController</class>
    <namespace>franka_example_controllers</namespace>
    <member kind="enumeration">
      <type></type>
      <name>TeleopStateMachine</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a929280478e203e8915f63ee7c0147e72</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ALIGN</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a929280478e203e8915f63ee7c0147e72ac50e1d7efc9dedac9e9221215f338d5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>TRACK</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a929280478e203e8915f63ee7c0147e72adec157671fce7dbb8c55cbd8c8ce0848</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::CartesianImpedanceExampleController</name>
    <filename>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>aa61fee8f409bbfda931c202123dbd7f5</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a9191e1f9d60551294d1f225af39f7926</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>ab7e3690c65dbf1ff57a5d37cb651cd04</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>complianceParamCallback</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a31f27ea8c8f60f073fb50c78cf48ab6c</anchor>
      <arglist>(franka_example_controllers::compliance_paramConfig &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>equilibriumPoseCallback</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a84a8c0fb5fbb0c273910d1af68fabe0b</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>saturateTorqueRate</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a1a3dd73a99d2686af41ff8c5ff8f216c</anchor>
      <arglist>(const Eigen::Matrix&lt; double, 7, 1 &gt; &amp;tau_d_calculated, const Eigen::Matrix&lt; double, 7, 1 &gt; &amp;tau_J_d)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_damping_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a95cb6cf998a392f5bf9fa1201f0c595d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_damping_target_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>afcb20af974815ddd883d1039ab554cc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_stiffness_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a37535313bb87e462a6c187c7ddce520f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_stiffness_target_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>ab31e4b0d375e011ea3e3f745a6cfdded</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>delta_tau_max_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a3ff07c9bb2c49cc9ac622bb2bd2c8f96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>dynamic_reconfigure_compliance_param_node_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a5c360df35cb2e4e32b47746a40ed95b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; dynamic_reconfigure::Server&lt; franka_example_controllers::compliance_paramConfig &gt; &gt;</type>
      <name>dynamic_server_compliance_param_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a43319973f57653a9d64bdafbeea2cf03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>filter_params_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a3684e222192042e190309d945c0f9589</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>joint_handles_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a288ac917280b160d8a531ab3554de5e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaModelHandle &gt;</type>
      <name>model_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a588de895d4aaef43c00bc11e6b789084</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>nullspace_stiffness_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>ac47b4db7d9f39e3d7eac34396b8ff32b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>nullspace_stiffness_target_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a3bfebd283e81cab2a5d303d75ba5a706</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Quaterniond</type>
      <name>orientation_d_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a8528ed0cf7de6439e65bb1d4c4017137</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Quaterniond</type>
      <name>orientation_d_target_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>ae2c7eed26db0a1b708b91148451bb13e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::mutex</type>
      <name>position_and_orientation_d_target_mutex_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>aaf8466486b09355c70b37cb3513997fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>position_d_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a7b1ed13a31a9561ced03a8a9221a303f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>position_d_target_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a2d30d23bda9622c57d2e894cfd00cc37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>q_d_nullspace_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a17864b23083e90764168ceb4ea843df8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaStateHandle &gt;</type>
      <name>state_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>affdc57722887831ee0e3e02332eae345</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>sub_equilibrium_pose_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianImpedanceExampleController.html</anchorfile>
      <anchor>a0daa6df50687aeeea370bbf13ed61774</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::CartesianPoseExampleController</name>
    <filename>classfranka__example__controllers_1_1CartesianPoseExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>a461de40a8f5d8a76b80b25fc581e0376</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>a80a14c57df1285078330b8d70bd7308b</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>aaecae953c1aeeaa8d08b569f0ef4723d</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaCartesianPoseHandle &gt;</type>
      <name>cartesian_pose_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>a23b7a3e97178593a7ae854f6c513ede7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::FrankaPoseCartesianInterface *</type>
      <name>cartesian_pose_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>a19b9c7a7046c8e94d9bbd877f2e5f113</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>elapsed_time_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>ab671f506567721b65a9607a216cf4a47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 16 &gt;</type>
      <name>initial_pose_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianPoseExampleController.html</anchorfile>
      <anchor>a43c4db7364e30dbbb5fa64e6457d639e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::CartesianVelocityExampleController</name>
    <filename>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaVelocityCartesianInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>a74c17e2afdd736f29e0d165362ddc212</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>a9326c6506dc721e03447fef88c5c59f7</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>stopping</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>a03ffcb4dd32fa51329f7600384ff22d6</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>ab39ae92f4a9059066d6f18a6dddeb2b3</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>elapsed_time_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>aea64d1bd4901f1b2a3f953f53c9d973c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaCartesianVelocityHandle &gt;</type>
      <name>velocity_cartesian_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>a70d748ed0786497d2ca847e011c237c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::FrankaVelocityCartesianInterface *</type>
      <name>velocity_cartesian_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1CartesianVelocityExampleController.html</anchorfile>
      <anchor>a252b7cc51863ad43fe4fb01bd07c6947</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::DualArmCartesianImpedanceExampleController</name>
    <filename>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a08aa5d3bd14a872c17a89cb8b99b8a29</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a5c2a6cdbdb2d235b13f9d791755aaf54</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>af218e8bcee9aa11c5824eb2bdee2638e</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>complianceParamCallback</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a82840c051cc206a1e8219024d4a228d4</anchor>
      <arglist>(franka_combined_example_controllers::dual_arm_compliance_paramConfig &amp;config, uint32_t)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>initArm</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a9a79e6f2bc7dd99ca13be10cd12e0aab</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, const std::string &amp;arm_id, const std::vector&lt; std::string &gt; &amp;joint_names)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishCenteringPose</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>add9a38b122e71bc3b2eee4aecb1a2546</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>saturateTorqueRate</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a79ec41641bd4f68e7230d5964a2a8784</anchor>
      <arglist>(const FrankaDataContainer &amp;arm_data, const Eigen::Matrix&lt; double, 7, 1 &gt; &amp;tau_d_calculated, const Eigen::Matrix&lt; double, 7, 1 &gt; &amp;tau_J_d)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>startingArm</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>ad9ab292bf0a4f26f3e0d9130f07bde97</anchor>
      <arglist>(FrankaDataContainer &amp;arm_data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>targetPoseCallback</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>ae3ee0387c0e66bb2c7dd73e8483500b2</anchor>
      <arglist>(const geometry_msgs::PoseStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>updateArm</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a46b792d35ce99017521a5b94159ab967</anchor>
      <arglist>(FrankaDataContainer &amp;arm_data)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, FrankaDataContainer &gt;</type>
      <name>arms_data_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a5a4fdc455cab1ef2a1b1684a5fca0438</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>center_frame_pub_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a9c2ef37a94ea9790e6fbde1646348e09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>dynamic_reconfigure_compliance_param_node_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a8c0a6436e03bc6f92100f374582e5ffc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; dynamic_reconfigure::Server&lt; franka_combined_example_controllers::dual_arm_compliance_paramConfig &gt; &gt;</type>
      <name>dynamic_server_compliance_param_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a9ab2bd42eddb182ed3ef8204a895d2f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Affine3d</type>
      <name>EEl_T_C_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>ab75976e34f2bfda6d72bea76a5364f07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Affine3d</type>
      <name>EEr_T_EEl_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a420b39ad51d86c567da288669288ac7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>left_arm_id_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a0dddfbef2b56b20772be200d336c30a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Affine3d</type>
      <name>Ol_T_Or_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>aa224f204552def73c61d1e567dc8cead</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::TriggerRate</type>
      <name>publish_rate_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>af995153679da41f71c3655cd5a4198e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>right_arm_id_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>a764dc4917ad01640309a468c96f3c821</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>sub_target_pose_left_</name>
      <anchorfile>classfranka__example__controllers_1_1DualArmCartesianImpedanceExampleController.html</anchorfile>
      <anchor>ac3fe95edefb95bc63740b1b6f39c7d12</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::ElbowExampleController</name>
    <filename>classfranka__example__controllers_1_1ElbowExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaPoseCartesianInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>ae289eee8c389d5b2d9e2f2cf13fcc475</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>a0ed0bd6a0db321eda30ddf0f038021df</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>a0f3e4ef04d7d4eba6019ae68c621a3a0</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaCartesianPoseHandle &gt;</type>
      <name>cartesian_pose_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>a911a7a82e55ba8f023ec8c0a9c8d2bd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::FrankaPoseCartesianInterface *</type>
      <name>cartesian_pose_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>a77b32f28520c2db59b4fd7209c50d578</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>elapsed_time_</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>adbacbe4e9d5314fc0a881f16b7ffa3c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 2 &gt;</type>
      <name>initial_elbow_</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>a5addb6a766aa1ad5e193796976307ef1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 16 &gt;</type>
      <name>initial_pose_</name>
      <anchorfile>classfranka__example__controllers_1_1ElbowExampleController.html</anchorfile>
      <anchor>a93ff73dad84295cd4c822b6bb843bc3c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::ForceExampleController</name>
    <filename>classfranka__example__controllers_1_1ForceExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>adb9839ab5bf49901849839bb5ce73932</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>aaf7bd3ab431911c818d1c3bf312f4f02</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>ae15ee13e9cb72653edb468127e65fa3c</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>desiredMassParamCallback</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>ac7db01746d2398acab73424e6a98f501</anchor>
      <arglist>(franka_example_controllers::desired_mass_paramConfig &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>saturateTorqueRate</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>ac00e2f9f34f52e96a61e9d694e09fbd7</anchor>
      <arglist>(const Eigen::Matrix&lt; double, 7, 1 &gt; &amp;tau_d_calculated, const Eigen::Matrix&lt; double, 7, 1 &gt; &amp;tau_J_d)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>desired_mass_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a5141239dda158063dc67d47aa74c2a3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>dynamic_reconfigure_desired_mass_param_node_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a52ea54759485f09d5b7985b56f1d592a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; dynamic_reconfigure::Server&lt; franka_example_controllers::desired_mass_paramConfig &gt; &gt;</type>
      <name>dynamic_server_desired_mass_param_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>ad17a6b653b79b4652bf39f26fda0f001</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>filter_gain_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a213ed677004316d1b790794f03aa0a7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>joint_handles_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>aed2074f77427deafe9b8670430f5a760</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>k_i_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a1a120dff4babea15e1d5a866547cd13a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>k_p_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a2f3c9fae22264a5a80da0d00e617bdf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaModelHandle &gt;</type>
      <name>model_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a97bc82b7bea28c31389b857f25adbe47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaStateHandle &gt;</type>
      <name>state_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a4b932a6c22504e9728c57b5fa7ccd620</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>target_k_i_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>ae4636481a611830a438a2b49ccb05f17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>target_k_p_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>ae5b17c481b7c7acebb8f378e29bf6b77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>target_mass_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a351793b041d57afb712be67410821cdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>tau_error_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a2e250641c7304512f8a30be65f276f63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>tau_ext_initial_</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>a5de4c22bd3d9d27f039f33f0c10fa11f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr double</type>
      <name>kDeltaTauMax</name>
      <anchorfile>classfranka__example__controllers_1_1ForceExampleController.html</anchorfile>
      <anchor>aa8d9d933646084d16500a53eea9e314c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>franka_example_controllers::FrankaDataContainer</name>
    <filename>structfranka__example__controllers_1_1FrankaDataContainer.html</filename>
    <member kind="variable">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_damping_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>acc805f9ce3ec8e8c2bb28307bec99472</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_damping_target_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a8683ac01d87d426cb44fb92b8ddac566</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_stiffness_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a77b9eddfb53d9ecc24ff3bfd1e57645d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>cartesian_stiffness_target_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>adc0258957afdc808a230b085a704500c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>delta_tau_max_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>aef62faa01b4a183eb5a4e610282515c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>filter_params_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>ab503b23d78faa358cf36aba04731fb12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>joint_handles_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a622e083f08e43ad3484d17e31747d056</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::unique_ptr&lt; franka_hw::FrankaModelHandle &gt;</type>
      <name>model_handle_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a858db623881ae7b6c1cac38f8cd2e2b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>nullspace_stiffness_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>af9d3b21edd5040627aa43bf68ec84bca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>nullspace_stiffness_target_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>aab8bc8795f0984efb33c4b7c5a365bff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Quaterniond</type>
      <name>orientation_d_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a39702becda74447804beac8958455fd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Quaterniond</type>
      <name>orientation_d_target_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>aae8a663d2e5a36dd1d30079880f06308</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Vector3d</type>
      <name>position_d_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a428d7240d8e2c000d729c4daacbcf1eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Vector3d</type>
      <name>position_d_target_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a7ef83945560a2b6cf9633fee007c7144</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>q_d_nullspace_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a5bbc2de05ad876eff5c2aadc0094eca1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::unique_ptr&lt; franka_hw::FrankaStateHandle &gt;</type>
      <name>state_handle_</name>
      <anchorfile>structfranka__example__controllers_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a1c8c232a2ecb797c88f5f3275041df68</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer</name>
    <filename>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</filename>
    <member kind="variable">
      <type>double</type>
      <name>contact</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>ad5f3476315074e32d86bb6d54901797d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>contact_force_threshold</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>aa05fc020f6aa8b0bf038139e4cd4af5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>contact_ramp_increase</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>ac4958e31cf1707e20dbb937790056378</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector7d</type>
      <name>dq</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a8bb665dacb4b5b5e0666261a4ccb7d48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>f_ext_norm</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a96574873b740cbc67de6dce760409d52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>joint_handles</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a3726f858d1ec008fb91ec2565704c849</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector7d</type>
      <name>q</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a53247f2f8bba97763e4191d9ffc6e0c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::unique_ptr&lt; franka_hw::FrankaStateHandle &gt;</type>
      <name>state_handle</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a6025d703fd6b15d511ca9dceccaf0ae6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector7d</type>
      <name>tau_target</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a617fe7c6a6d98a0a6bac5a79d2d26176</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector7d</type>
      <name>tau_target_last</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a53bba3fdbab499a7b02d7430dfc07e31</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::unique_ptr&lt; JointWallContainer&lt; 7 &gt; &gt;</type>
      <name>virtual_joint_wall</name>
      <anchorfile>structfranka__example__controllers_1_1TeleopJointPDExampleController_1_1FrankaDataContainer.html</anchorfile>
      <anchor>a39c1a6c2491fdd933895e2de84a4b062</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::JointImpedanceExampleController</name>
    <filename>classfranka__example__controllers_1_1JointImpedanceExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaModelInterface, hardware_interface::EffortJointInterface, franka_hw::FrankaPoseCartesianInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a8163440bff59a3067be1d47e4b3c3c84</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a968df72e561b1c35c4c406eb5cd79011</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>afd7edb0e2600dd7732b0bf00e14d41c2</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::array&lt; double, 7 &gt;</type>
      <name>saturateTorqueRate</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a246799d505d7ebedb1c75d8e9f251a01</anchor>
      <arglist>(const std::array&lt; double, 7 &gt; &amp;tau_d_calculated, const std::array&lt; double, 7 &gt; &amp;tau_J_d)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acceleration_time_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>aed26e5a5b23daaaacbd810caad1e2343</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>angle_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>abdec90430c89c3d3d7c8a17dff886c48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaCartesianPoseHandle &gt;</type>
      <name>cartesian_pose_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>ade68e268a35c4b1a52c0dc4c811a074f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>coriolis_factor_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>ae00b8cb710e3a41bc7cc1b1060f52d9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>d_gains_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>ab19eea8c0c0d0da745294e15211f4593</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 7 &gt;</type>
      <name>dq_filtered_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a003bd809f7a92fdf81bd63c57f414cf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 16 &gt;</type>
      <name>initial_pose_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>ae5c009114b631bc41b1e91cf5603013c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>joint_handles_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a64340fe9c37cfbdacac36129ef8f1504</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>k_gains_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a489d73033258b6f34dfbe8b3fc101b51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 7 &gt;</type>
      <name>last_tau_d_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a2dfeef688b321513975733e45d387bdb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaModelHandle &gt;</type>
      <name>model_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a2ed243b27c3639ddeb284d7acdf76d8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>radius_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>ae312280e14358c15d9fc3398e149a6dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::TriggerRate</type>
      <name>rate_trigger_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>afd6d8f3ae121ae1251c5053557f242a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; JointTorqueComparison &gt;</type>
      <name>torques_publisher_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a7853d80a8b3a142be8825e895a70d20d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>vel_current_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>af0c7f07dd97fcc67b15c3a520086827a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>vel_max_</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a6a988f0c94bef853f6771068a49f66c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr double</type>
      <name>kDeltaTauMax</name>
      <anchorfile>classfranka__example__controllers_1_1JointImpedanceExampleController.html</anchorfile>
      <anchor>a0dc22a8d2121a79f7583444207cb724d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::JointPositionExampleController</name>
    <filename>classfranka__example__controllers_1_1JointPositionExampleController.html</filename>
    <base>MultiInterfaceController&lt; hardware_interface::PositionJointInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>a958b27b475476717543b8cc107bd6c1b</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>a2b8711e7421963f686c7383d624e38a8</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>a3475db8f06dde9e37fd03660ef4d1cb0</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>elapsed_time_</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>acdbb7dc1611653a0c6bed1d94dc0c979</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; double, 7 &gt;</type>
      <name>initial_pose_</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>aec370794d28554126ba021f10c8216ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>position_joint_handles_</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>acaa5902db27586e01e48939526e27e5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hardware_interface::PositionJointInterface *</type>
      <name>position_joint_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1JointPositionExampleController.html</anchorfile>
      <anchor>a04b7891338d07eeb78febf6085190f83</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::JointVelocityExampleController</name>
    <filename>classfranka__example__controllers_1_1JointVelocityExampleController.html</filename>
    <base>MultiInterfaceController&lt; hardware_interface::VelocityJointInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>a97f6b9f2bd26bdb3700844549a5a803c</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>a6f0a4d2a40e3b3fd827de7a882401a35</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>stopping</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>ae7557a0ea289d4d427f393fd5a4866b5</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>af25c5523cd2f79a7bd2da9cc1a5348d6</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>elapsed_time_</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>a39a8d082e948e285156244f678b8e627</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>velocity_joint_handles_</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>ab88c025c1a93924c079416fe2dbe011e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hardware_interface::VelocityJointInterface *</type>
      <name>velocity_joint_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1JointVelocityExampleController.html</anchorfile>
      <anchor>a34769e0599ac754774227087859986dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::JointWall</name>
    <filename>classfranka__example__controllers_1_1JointWall.html</filename>
    <member kind="function">
      <type>double</type>
      <name>computeTorque</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a260eb8e130a766ca5e6643c862e3ac93</anchor>
      <arglist>(double q, double dq)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointWall</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a6546b750e728bc99b5f51e0f22d5e48b</anchor>
      <arglist>()=delete</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointWall</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a16e517c7b55ac2156e7568f04a62d3b0</anchor>
      <arglist>(double soft_upper_joint_position_limit, double soft_lower_joint_position_limit, double PD_zone_width, double D_zone_width, double PD_zone_stiffness, double PD_zone_damping, double D_zone_damping)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a9b52f429db85d3cfbb459ae606899849</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="enumeration" protection="private">
      <type></type>
      <name>MotionInWall</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a14eae403726996f88bdca028b86a7168</anchor>
      <arglist></arglist>
      <enumvalue file="classfranka__example__controllers_1_1JointWall.html" anchor="a14eae403726996f88bdca028b86a7168ab4288e7bd7886e1f48aec73405b61fe4">EnteringNormal</enumvalue>
      <enumvalue file="classfranka__example__controllers_1_1JointWall.html" anchor="a14eae403726996f88bdca028b86a7168a80d6c24e23a8c0e6ed5bc846ad5cfef6">PenetratingLowerLimit</enumvalue>
      <enumvalue file="classfranka__example__controllers_1_1JointWall.html" anchor="a14eae403726996f88bdca028b86a7168af072691df1db5db1819ae3df96764967">LeavingLowerLimit</enumvalue>
      <enumvalue file="classfranka__example__controllers_1_1JointWall.html" anchor="a14eae403726996f88bdca028b86a7168a437a068d307431b6bfc3354a24f1031a">PenetratingUpperLimit</enumvalue>
      <enumvalue file="classfranka__example__controllers_1_1JointWall.html" anchor="a14eae403726996f88bdca028b86a7168ad3ea7f3141a82194ae10613b8e4d43c2">LeavingUpperLimit</enumvalue>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>adjustMovingWall</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a011e2fad49b9946d879c508df2543197</anchor>
      <arglist>(double q, double dq)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>MotionInWall</type>
      <name>getMotionInWall</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>abc685dd0649ff0858e86e8b2901f099f</anchor>
      <arglist>(double q, double dq) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a6b5e8e5ee8168d572b525fe227f16c25</anchor>
      <arglist>(double q, double dq)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static bool</type>
      <name>inRange</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a8f1bd7cfa3c8a1e0f463fb2d43ac8e00</anchor>
      <arglist>(double low, double high, double x)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static double</type>
      <name>positiveCheck</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>aa51011502ee2fa6c6e5897d07f214047</anchor>
      <arglist>(double value)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>D_zone_damping_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>ab836523f6daf4ef4c0b158fefb1f77ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>D_zone_width_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a631ea56b1adecb068495e15ef863eb7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a09fde9e7aca7d1e12608c42d20049c8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>moving_wall_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a557e7f881ad3ff875ae05e754b123fb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>PD_zone_damping_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>aeb582d8851530554b46127f80ca92b24</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>PD_zone_stiffness_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>aa4c1f7be2f9f6e152d74730fec4af152</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>PD_zone_width_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>adb5ac157e6eddfda9a4113e915bc9c39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>soft_lower_joint_position_limit_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>ae25d3af40e6d181b47e007765fe34131</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>soft_upper_joint_position_limit_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>a3db13f2cfbc3fa17b61b2ef48d880aba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>zone_width_scale_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWall.html</anchorfile>
      <anchor>ad731454fae1f9ced03b4ce85e9ab4224</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::JointWallContainer</name>
    <filename>classfranka__example__controllers_1_1JointWallContainer.html</filename>
    <templarg>num_dof</templarg>
    <member kind="function">
      <type>std::array&lt; double, num_dof &gt;</type>
      <name>computeTorque</name>
      <anchorfile>classfranka__example__controllers_1_1JointWallContainer.html</anchorfile>
      <anchor>a2e68a9fdcb5387ddb00e8d9789e487ba</anchor>
      <arglist>(const std::array&lt; double, num_dof &gt; &amp;q, const std::array&lt; double, num_dof &gt; &amp;dq)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointWallContainer</name>
      <anchorfile>classfranka__example__controllers_1_1JointWallContainer.html</anchorfile>
      <anchor>a9500ac4f69ede71d8ee52b18fee708c3</anchor>
      <arglist>()=delete</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointWallContainer</name>
      <anchorfile>classfranka__example__controllers_1_1JointWallContainer.html</anchorfile>
      <anchor>a78b8e99f1d633a2fb607e3489400f8a2</anchor>
      <arglist>(const std::array&lt; double, num_dof &gt; &amp;soft_upper_joint_position_limits, const std::array&lt; double, num_dof &gt; &amp;soft_lower_joint_position_limits, const std::array&lt; double, num_dof &gt; &amp;PD_zone_widths, const std::array&lt; double, num_dof &gt; &amp;D_zone_widths, const std::array&lt; double, num_dof &gt; &amp;PD_zone_stiffnesses, const std::array&lt; double, num_dof &gt; &amp;PD_zone_dampings, const std::array&lt; double, num_dof &gt; &amp;D_zone_dampings)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classfranka__example__controllers_1_1JointWallContainer.html</anchorfile>
      <anchor>a672cec67682e7565071510b24e283b92</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; std::unique_ptr&lt; JointWall &gt;, num_dof &gt;</type>
      <name>joint_walls_</name>
      <anchorfile>classfranka__example__controllers_1_1JointWallContainer.html</anchorfile>
      <anchor>a9710684a9c88938bdccdfb7bc0a4c35d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::ModelExampleController</name>
    <filename>classfranka__example__controllers_1_1ModelExampleController.html</filename>
    <base>MultiInterfaceController&lt; franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>a423f7ebfd4e0b81cdfbefbdb002cde37</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>ac80410c22f5e1c98da93ba150a390d2d</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaStateHandle &gt;</type>
      <name>franka_state_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>a6619cd4e5d970fde0779dfa8d5da2b71</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::FrankaStateInterface *</type>
      <name>franka_state_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>a299d64b2e65f3d2259ea2468638337e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; franka_hw::FrankaModelHandle &gt;</type>
      <name>model_handle_</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>a6eb1270e267595e0e281ee765f0ec550</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::FrankaModelInterface *</type>
      <name>model_interface_</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>a832283a8b75f7e65ee03839a18b54f18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::TriggerRate</type>
      <name>rate_trigger_</name>
      <anchorfile>classfranka__example__controllers_1_1ModelExampleController.html</anchorfile>
      <anchor>aff2c4d48db198405dd9f4366cdedb82f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TeleopGripperClient</name>
    <filename>classTeleopGripperClient.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a2aad10e96b7eacb842722a6dbe8f10cf</anchor>
      <arglist>(const std::shared_ptr&lt; ros::NodeHandle &gt; &amp;pnh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TeleopGripperClient</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>ac95ed0dc7bfe7738e1e4431c97b69cf6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>homingGripper</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a39be65586bbb7501676e5f3f4268daa7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>subscriberCallback</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a038904b3b2096025ec175250323d275b</anchor>
      <arglist>(const sensor_msgs::JointState &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>teleopGripperParamCallback</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a4c4f3ccd50b453c42a1fe1c4a8ab2e9a</anchor>
      <arglist>(const franka_example_controllers::teleop_gripper_paramConfig &amp;config, uint32_t)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::mutex</type>
      <name>dynamic_reconfigure_mutex_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a49684d35173ea92293c50f85eb8d2a53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>dynamic_reconfigure_teleop_gripper_param_node_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>ab75f56e1fd26bee8a426e0e1f5b6b5b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; dynamic_reconfigure::Server&lt; franka_example_controllers::teleop_gripper_paramConfig &gt; &gt;</type>
      <name>dynamic_server_teleop_gripper_param_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a5760f1f4f8a11ec9b5927b4f731b425c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>HomingClient</type>
      <name>follower_homing_client_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>aa39d8c834810b577d2edc97f46ff3e04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>GraspClient</type>
      <name>grasp_client_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a53d78e79541566efc13681820a412708</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>grasp_epsilon_inner_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>aeffa9919e80f0e4a030511ef61244d38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>grasp_epsilon_outer_scaling_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>afe0a1e0fb2bfe28c2a0fb5a96d9fdab9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>grasp_force_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a64241ec4e6af12193e6338e9dcbd60bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>grasping_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a86b01bcf6fb77e547a24d13eb225f906</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>gripper_homed_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a34d824705a3d0a8b1db65ab32597c756</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>HomingClient</type>
      <name>leader_homing_client_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a4888295d505f5ed870605ac79af4e04a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>leader_sub_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>ac75e3986525814d789f6734da12c63a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_width_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a6a9bb514eb93c529ebe959778f5e3dd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MoveClient</type>
      <name>move_client_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a2905f905b40d456c7c1513443ef2ce80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>move_speed_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a200e0637b838ebd4cccf4320663caec1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>start_pos_grasping_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>ae86377133c17469a5ee9afd508ca65dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>start_pos_opening_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a3a328bd0a3b14863afbfc6eb0ca74cb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>StopClient</type>
      <name>stop_client_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>ac205d6f56e3e1b5bcf18c7d86ec0d9c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::mutex</type>
      <name>subscriber_mutex_</name>
      <anchorfile>classTeleopGripperClient.html</anchorfile>
      <anchor>a9e1bd42b4b3bad0d50616d52517e95bf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>franka_example_controllers::TeleopJointPDExampleController</name>
    <filename>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</filename>
    <base>MultiInterfaceController&lt; hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface &gt;</base>
    <class kind="struct">franka_example_controllers::TeleopJointPDExampleController::FrankaDataContainer</class>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ae70228e8a3670b6c780ac0f1a986f411</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>starting</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a653ab884c684dbe7bcbfec5dda4e51a0</anchor>
      <arglist>(const ros::Time &amp;) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ab40026839a17b639a2caddd20fd8d90f</anchor>
      <arglist>(const ros::Time &amp;, const ros::Duration &amp;period) override</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 7 &gt;</type>
      <name>Matrix7d</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ada6f1e8d477ec0c33147662033f3b067</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Vector6d</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a0e36b762a60128d9378e841620171403</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>Eigen::Matrix&lt; double, 7, 1 &gt;</type>
      <name>Vector7d</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a01132f9866dba4906f1adbdab585d844</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>T</type>
      <name>get1dParam</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ac0c65f6fb5ecdd3b8007f05775a232b1</anchor>
      <arglist>(const std::string &amp;param_name, ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Vector7d</type>
      <name>get7dParam</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ae41a22756448b9d1e2a949673812cc35</anchor>
      <arglist>(const std::string &amp;param_name, ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; T &gt;</type>
      <name>getJointParams</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a3a1c01c36df08c3a400b3e514da97f9c</anchor>
      <arglist>(const std::string &amp;param_name, ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>initArm</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>acf2048c9c40f79a6bf6cd895874cdb23</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;node_handle, FrankaDataContainer &amp;arm_data, const std::string &amp;arm_id, const std::vector&lt; std::string &gt; &amp;joint_names)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Vector7d</type>
      <name>leaderDamping</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a705745bac8c06138d31b6fb697a8a37e</anchor>
      <arglist>(const Vector7d &amp;dq)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishFollowerContact</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a46b70e007dc7136ccef8cac50c9270f3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishFollowerTarget</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a9f3a431a6906c18deb2b01584101c60e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishLeaderContact</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a36dd08ef8337d79a7ad88a077abc268e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishLeaderTarget</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a24267088af6111730fa0ffcb0196bb66</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishMarkers</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a0e269e3d37e33b08a32f81ea6f78d1af</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>rampParameter</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ae11af37d44c88213215028d8f47b5b15</anchor>
      <arglist>(double x, double neg_x_asymptote, double pos_x_asymptote, double shift_along_x, double increase_factor)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Vector7d</type>
      <name>saturateAndLimit</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a724865a31a0c02274f19144e0d39944b</anchor>
      <arglist>(const Vector7d &amp;x_calc, const Vector7d &amp;x_last, const Vector7d &amp;x_max, const Vector7d &amp;dx_max, double delta_t)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>teleopParamCallback</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ade5dc23af0a50aad118c68fbdb00e466</anchor>
      <arglist>(franka_example_controllers::teleop_paramConfig &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>updateArm</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a591b54f9eb004da66767c35fc3c76ed1</anchor>
      <arglist>(FrankaDataContainer &amp;arm_data)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>getJointLimits</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a48fdebe5b99292c2bfd3041ffd720649</anchor>
      <arglist>(ros::NodeHandle &amp;nh, const std::vector&lt; std::string &gt; &amp;joint_names, std::array&lt; double, 7 &gt; &amp;upper_joint_soft_limit, std::array&lt; double, 7 &gt; &amp;lower_joint_soft_limit)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>alignment_error_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a728119111c516b93178c58db7bf84092</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TeleopStateMachine</type>
      <name>current_state_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ad610379ef501878b6d4757b1ec7be5df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>ddq_max_align_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>acd793fff7a466c250c60d01e5f8e26b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>ddq_max_lower_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a14b836d616823245b4e0aba481785476</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>ddq_max_upper_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>aea578827aa75e18f0cd74b2585739884</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>debug_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a971ff3e7935a31655ce41d2a06955f2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>decrease_factor_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a92674e220c84b5311b68e0445490f580</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_max_align_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a03cbbdbe4d9b52b6b75cbabcbfd26a99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_max_leader_lower_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a2a0b9c2d73b57f8497987c591b902f86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_max_leader_upper_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ab29ee916f1b8c5babb90a639788ede8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_max_lower_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a08885f262a496ebc924281c43749698d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_max_upper_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a44339bce17629ce9e7bd6b12dd346e74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_target_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>abc4d05dfb212ebc8431cd9e66385dae5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_target_last_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a905146f5c2e8b027ee5eeb3d4e77bc7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>dq_unsaturated_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>abd8e3911411e0f322a79ed2e581d85f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::mutex</type>
      <name>dynamic_reconfigure_mutex_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a2de0ba011b7ff81bad21b0eb8f1918aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>dynamic_reconfigure_teleop_param_node_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a025978e6a6f02c8888f914ef7683ba4b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; dynamic_reconfigure::Server&lt; franka_example_controllers::teleop_paramConfig &gt; &gt;</type>
      <name>dynamic_server_teleop_param_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ace5b568e114b93c16a4bf7842cc7029c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; std_msgs::Float64 &gt;</type>
      <name>follower_contact_pub_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>acecb029dcdfe267480340cb7daf92daa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FrankaDataContainer</type>
      <name>follower_data_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a00dda250cb5a706bb95cf750d099e45c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>follower_stiffness_scaling_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a8b20697433201ad2beaf1df73997dc23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; sensor_msgs::JointState &gt;</type>
      <name>follower_target_pub_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ab3d37d5a3643f302099d50046d60fad4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>force_feedback_guiding_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a9a59946e97ee4b85fd6f899eeab94295</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>force_feedback_idle_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a98c8b24ba645984f8bbd32aafc8575a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>init_leader_q_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>acb9bd5999f8f8ed1976195b5e2bc1232</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_d_follower_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a88194030bcf331df4c8129b1f34380a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_d_follower_align_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>aeac5f299df19b6655fcdc6125e3ec672</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_d_leader_lower_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ab507e52eb9e18d87f316f9b073a41d62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_d_leader_upper_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ad85ae08982f360d91ee553e6451d5353</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_dq_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ab54836c0f5409828fdb4970e91841cf5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_p_follower_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a8b1579c603b69db8bfcc26a28f749b68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>k_p_follower_align_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>aba1b974dcbfcaaf9dbb9dd31490440f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>kAlignmentTolerance_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a1ffff6b0a5ee657c0caa918c483445c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; std_msgs::Float64 &gt;</type>
      <name>leader_contact_pub_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a6b38970410d87bc643f2d4a58733896a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>leader_damping_scaling_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a3c91f757279d0cf4e288a538ce7b45c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FrankaDataContainer</type>
      <name>leader_data_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a54ecd5b873f167d1d68c69404b4e99a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; sensor_msgs::JointState &gt;</type>
      <name>leader_target_pub_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>ab234f8985f544fb24c64046cab8948fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>realtime_tools::RealtimePublisher&lt; visualization_msgs::MarkerArray &gt;</type>
      <name>marker_pub_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a2138888820aa666bc4b71d686114f52b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>prev_alignment_error_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a99cf5837b041169a8059d6d88862cfdd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>franka_hw::TriggerRate</type>
      <name>publish_rate_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a8a2e46e7d3dbb43f8cca3763435d474f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>q_target_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a922d7395d839a0e35ac2cd91b857f616</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector7d</type>
      <name>q_target_last_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a7de4cd1ac346704baf8a8736db0ae7b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>velocity_ramp_increase_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a143a1c5c9859ef4bd6ed3ebc252ed8fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>velocity_ramp_shift_</name>
      <anchorfile>classfranka__example__controllers_1_1TeleopJointPDExampleController.html</anchorfile>
      <anchor>a78f033fc366e61fe8a2835ca12dbeec9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>dual_arm_interactive_marker</name>
    <filename>namespacedual__arm__interactive__marker.html</filename>
    <member kind="function">
      <type>def</type>
      <name>left_franka_state_callback</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a2b8c14b515389640fd0dfcd9f542bf73</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>make_sphere</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a4a4776e18d30b02fcd5aa69cea3e7f87</anchor>
      <arglist>(scale=0.3)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>process_feedback</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>afedda6582fc6f2b0bd5c4c1e16dc9251</anchor>
      <arglist>(feedback)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_target_pose</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>afe5736dcfad3f21203ce12db0eaf6c87</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>reset_marker_pose_blocking</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aa2f3e89c8afccb99a7aceee8024f7d6d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>right_franka_state_callback</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a45661200829d9728f63a363b7dc340c0</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>always_visible</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a0c4e88aa8a5fd1ea5f74912786ce11f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>args</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a6e82d86ff9b8fe95975de7900f8e2aa3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>control</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a3ec82817bea92c3e2ce70682f3b6d2ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>description</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a8908f0309762fc6b58438bbe9df01ac6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aaa5e3e8f0a8e125d0f02f2d971d0694a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>has_error</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a91bdb7838358a5dc012220bdda750474</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>help</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a551f6886fb11c8c7022dabbaff35194e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>int_marker</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a2eebfc53764d8ec847c6f9e58b4a3558</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>interaction_mode</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>abe224eacf607f80c0bb2c0f5389d5996</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>left_arm_id</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ace8a93e369537d92f17b9861d31cb885</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>left_has_error</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aa91188fad3c0fe29eb194de0749d679b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>left_state_sub</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ab3eaf7e9c4ecbae1e8dd0814de4cafe1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>marker_pose</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ae1dc1823850439ceb0256e842fe101af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a784e31cc90b2e3c4eca59faf857bbc06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>nargs</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a870908ca0a91fc8808dfe9e398e0f8b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>parser</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a5cac52437015f562072ed9f81a317214</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ad1096317d9fe655130ffd6bda9645bbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose_pub</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a1cf87b0dd85b2d2e96272ec48965cb5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>required</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>abafb62c73e0ce1d3e29223d4b249b2cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_arm_id</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a80a58bbac980f1ea20a26676176c5413</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>right_has_error</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a54051039c162d3e6850c7975a2798c43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_state_sub</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>ab5b828c74287f71cf83aa46ffc2fc94b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>scale</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aeb3429c5c8fc1b6838571accb54813bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a5eaefed5ff5ae605348f4193b53733a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a586f29d31b76a5c3a968627bf51129c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a622e063064f4b6c5718471de259adb6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>a3f9e7d16da8f43f59095da0393541a11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>z</name>
      <anchorfile>namespacedual__arm__interactive__marker.html</anchorfile>
      <anchor>aee749b160baf172d0162bc67af46c52d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>franka_example_controllers</name>
    <filename>namespacefranka__example__controllers.html</filename>
    <class kind="class">franka_example_controllers::CartesianImpedanceExampleController</class>
    <class kind="class">franka_example_controllers::CartesianPoseExampleController</class>
    <class kind="class">franka_example_controllers::CartesianVelocityExampleController</class>
    <class kind="class">franka_example_controllers::DualArmCartesianImpedanceExampleController</class>
    <class kind="class">franka_example_controllers::ElbowExampleController</class>
    <class kind="class">franka_example_controllers::ForceExampleController</class>
    <class kind="struct">franka_example_controllers::FrankaDataContainer</class>
    <class kind="class">franka_example_controllers::JointImpedanceExampleController</class>
    <class kind="class">franka_example_controllers::JointPositionExampleController</class>
    <class kind="class">franka_example_controllers::JointVelocityExampleController</class>
    <class kind="class">franka_example_controllers::JointWall</class>
    <class kind="class">franka_example_controllers::JointWallContainer</class>
    <class kind="class">franka_example_controllers::ModelExampleController</class>
    <class kind="class">franka_example_controllers::TeleopJointPDExampleController</class>
    <member kind="enumeration">
      <type></type>
      <name>TeleopStateMachine</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a929280478e203e8915f63ee7c0147e72</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ALIGN</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a929280478e203e8915f63ee7c0147e72ac50e1d7efc9dedac9e9221215f338d5c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>TRACK</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a929280478e203e8915f63ee7c0147e72adec157671fce7dbb8c55cbd8c8ce0848</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pseudoInverse</name>
      <anchorfile>namespacefranka__example__controllers.html</anchorfile>
      <anchor>a2ddd8676f7f9bbbbccd48929abcd367a</anchor>
      <arglist>(const Eigen::MatrixXd &amp;M_, Eigen::MatrixXd &amp;M_pinv_, bool damped=true)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>interactive_marker</name>
    <filename>namespaceinteractive__marker.html</filename>
    <member kind="function">
      <type>def</type>
      <name>process_feedback</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a238f8a9b4fcce2b6fe2200314291af66</anchor>
      <arglist>(feedback)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publisher_callback</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a91528b828cb3a241da3349e36808e7ad</anchor>
      <arglist>(msg, link_name)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>wait_for_initial_pose</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a67be86013d379eac7c55688330da5838</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>control</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a8fd433e78cfd74cc72adf0682a6138ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>description</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a8d5149395ebebadc404797fba74b4fbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>frame_id</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ac2bed062650fc4b024b550a1176d9913</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>int_marker</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae29f4fcac0d5d63e0fe4542ec4b3fc65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>interaction_mode</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae2bafebdee41a12635569a296fa3bf6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>link_name</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ad4be871390c9720f44a629c719c96923</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>listener</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a0e579ab555212bb5e2c9f8a675b7618a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>marker_pose</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ab05cd11b66bc37f2aee6ea4ee9d9899a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>name</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a447655961b3d3ca3c5a2a9d3d769436d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a06e4691dc5f93e0da6dc9a6efa8d99b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose_pub</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a8e8c3785e42901a7610214ff727338ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>list</type>
      <name>position_limits</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>aae45ba5b707ff3b4546ae4bbb9b49b39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>scale</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae2c7b9865bba9817db3359dba96e4507</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a0913a920340099e56f9b000d508380eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>w</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a762d2be287d5bc9ccc79401f4c401bd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>acda52804aef30b460a72fb21ee01d69d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>a5e45ec67a60dd2f10e5b53a9274e4730</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>z</name>
      <anchorfile>namespaceinteractive__marker.html</anchorfile>
      <anchor>ae4fadbd064c862c7bd45695a76bb0af4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>move_to_start</name>
    <filename>namespacemove__to__start.html</filename>
    <member kind="variable">
      <type></type>
      <name>action</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a9ee2f53e8bf4ed5a977f8d3d72051395</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>client</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a731c74176b29eae9ff83960488c23434</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>goal</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a79c6548226da3e612843214a12bec517</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>goal_time_tolerance</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a82315f70d6c4e38cb5f7ae317bf6aad3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>initial_pose</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aa84cca5cc5584e544c8f79011e1a2948</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joint_state</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>ab658e04a521128fd8064c0be1ea066ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_movement</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a238331b12feb17a1b579a6d6f097a903</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>param</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a21893546f68ac751e91941415a7a7767</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>point</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aca0c91405869dd0162a6fba3aaab8f0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pose</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a8f6280e42e044233ce02880883d4188c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>positions</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aef9b217ce8cff21cb6476d103704f03d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>result</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aa4dc66ba6dccd51788957a3c5b2b8ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>time_from_start</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a797c0f77b95511e2d25e3ddb908c0a1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>topic</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>aff7e8ce6cb9c1f3f53d729e2e16150f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>velocities</name>
      <anchorfile>namespacemove__to__start.html</anchorfile>
      <anchor>a6cd7876c3f997a00e49209ce7dfa14b4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="page">
    <name>index</name>
    <title></title>
    <filename>index</filename>
  </compound>
</tagfile>
