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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function">
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      <name>searchPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a39f82bbdb5d55f75fc5073fc1f0fa29a</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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      <arglist>(const std::vector&lt; unsigned int &gt; &amp;redundant_joint_indices) override</arglist>
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      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a82de532a0b72cc262e1e57f0ffca41ff</anchor>
      <arglist>(const std::string &amp;from, const std::string &amp;to, Eigen::Isometry3d &amp;transform, bool &amp;differs_from_identity)</arglist>
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      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a98078b4804c951e4aa59ef8884213be1</anchor>
      <arglist>(int &amp;count, const int &amp;max_count, const int &amp;min_count) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ae37e3b8ad1464308495a7c707e6d06b4</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a990e69de4609d9e8d082eabd17b7ef97</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a4408f1446c32f5b5b15ffd51865736e7</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, const std::vector&lt; double &gt; &amp;ik_seed_state, int i, std::vector&lt; double &gt; &amp;solution) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a2014650c79532b0da6cb5a5b19019173</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, int i, std::vector&lt; double &gt; &amp;solution) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a842b2d3bfcbae825bcdeb67fb6d333e5</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>sampleRedundantJoint</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a636e32cc23f4b913b2775ff0aaf4192c</anchor>
      <arglist>(kinematics::DiscretizationMethod method, std::vector&lt; double &gt; &amp;sampled_joint_vals) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>size_t</type>
      <name>solve</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>af7084af11b5de209e7bb958bfde8d26a</anchor>
      <arglist>(KDL::Frame &amp;pose_frame, const std::vector&lt; double &gt; &amp;vfree, IkSolutionList&lt; IkReal &gt; &amp;solutions) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>transformToChainFrame</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a6c75621317ddbc76f30a48687d2fc8c9</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, KDL::Frame &amp;ik_pose_chain) const</arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>base_transform_required_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a4c7b2979ffe13d441d1e049c7d15d083</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
      <name>chain_base_to_group_base_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>acb6bc612e71fe3147d4156a77d40390b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>free_params_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ac9cb437c0d4e312e74fc543624f2fe51</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
      <name>group_tip_to_chain_tip_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a8ec81fcc76458f2a6846c4290341f8fa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>IKFAST_BASE_FRAME_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a88db5b0a20e8ab764fcc3099f1fa35a9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>IKFAST_TIP_FRAME_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a6b870057a6d410364a5d2b1fa4abae67</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aaf7f8071f48ceaf30038dbb4c373d9b1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; bool &gt;</type>
      <name>joint_has_limits_vector_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aecd1d1617b80574c03aad37b1da7fb33</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_max_vector_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a1ca124472a095679051cb426a86c15fa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_min_vector_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a4bad53d9a35c0d16689a2c429d6fd2a9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aa8f6d3ece9c524f6e7db92d1e9f21468</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>link_names_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a978980dc7e926c851dc578a93c8685f1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>link_prefix_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ab5a529ea7e06bfc96d5a496920165bea</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>name_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a21018e74d832b620c94cd903ecb3b50a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const size_t</type>
      <name>num_joints_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a54511d0a8b172d0ea2302094cee2217c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>tip_transform_required_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a98b4e607e5c9a8b860da7dc0844fb752</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>ikfast::IkSingleDOFSolutionBase</name>
    <filename>classikfast_1_1IkSingleDOFSolutionBase.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>IkSingleDOFSolutionBase</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>aa3c37c6e9a4903f1303893e966260789</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>T</type>
      <name>fmul</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>adb64a33a2ce7357684c9c89d75cacd0c</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>T</type>
      <name>foffset</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a1d5900ae9cb2d55c396b995b976fdcef</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>signed char</type>
      <name>freeind</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>adca245b0afa4133dddbd10803053bc2a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned char</type>
      <name>indices</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a50d8439b7f735a474f6dfe42e91de455</anchor>
      <arglist>[5]</arglist>
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    <member kind="variable">
      <type>unsigned char</type>
      <name>jointtype</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a3c458c4a2b06b4a2ccffc265cf34c6fe</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned char</type>
      <name>maxsolutions</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a45404bf30c7b90131b7ce2b8045c6f6a</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>ikfast::IkSolution</name>
    <filename>classikfast_1_1IkSolution.html</filename>
    <templarg></templarg>
    <base>ikfast::IkSolutionBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a38374e5c362498812fdbb86bdd77ee42</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const std::vector&lt; int &gt; &amp;</type>
      <name>GetFree</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a6565d27370b7fe391efaa64a18e87afc</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ab0258a9b42c720194e13953e631c9b8b</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ae8891fda83002a94c74a80ab9784679e</anchor>
      <arglist>(T *solution, const T *freevalues) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolutionIndices</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a62c0808de0ffde44a96539dd58a616e4</anchor>
      <arglist>(std::vector&lt; unsigned int &gt; &amp;v) const</arglist>
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    <member kind="function">
      <type></type>
      <name>IkSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a6b76af506a24ba4b78b1c9d3dc110a72</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Validate</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a138ee9ab2e290a1ae2ee4c7aa23dab41</anchor>
      <arglist>() const</arglist>
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    <member kind="variable">
      <type>std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt;</type>
      <name>_vbasesol</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a823a44ea0a199929967ce1646792a50c</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>_vfree</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>ikfast::IkSolutionBase</name>
    <filename>classikfast_1_1IkSolutionBase.html</filename>
    <templarg></templarg>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>GetFree</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>a4e8afdc564a90aeed598d276d4f1bd3f</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>a9405530feb49f12f56c3175e7150c66f</anchor>
      <arglist>(T *solution, const T *freevalues) const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~IkSolutionBase</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>ae40e464cdbc474388cc7d55560ec44f9</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>ikfast::IkSolutionList</name>
    <filename>classikfast_1_1IkSolutionList.html</filename>
    <templarg></templarg>
    <base>ikfast::IkSolutionListBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>ac0a503b13e68403e7b2d92afd4c28a7b</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Clear</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>ae341a33d5aee644cac867e3edd2a9916</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>GetNumSolutions</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const IkSolutionBase&lt; T &gt; &amp;</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>(size_t index) const</arglist>
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    <member kind="variable" protection="protected">
      <type>std::list&lt; IkSolution&lt; T &gt; &gt;</type>
      <name>_listsolutions</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist></arglist>
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    <templarg></templarg>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a9d862f550472c2fa15189946b12222bf</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>GetNumSolutions</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const IkSolutionBase&lt; T &gt; &amp;</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
      <anchor>a540d8c85b5be635ea671ef7ddc0eb9c0</anchor>
      <arglist>(size_t index) const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~IkSolutionListBase</name>
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      <arglist>()</arglist>
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    <filename>classIKSolver.html</filename>
    <member kind="function">
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      <name>ComputeIk</name>
      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>(IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>polyroots2</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a16a33b8d7de25af06070fb7c55e80bb1</anchor>
      <arglist>(IkReal rawcoeffs[2+1], IkReal rawroots[2], int &amp;numroots)</arglist>
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    <member kind="function" static="yes">
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      <name>polyroots3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a46a898ea503f9399df84df127f7f84eb</anchor>
      <arglist>(IkReal rawcoeffs[3+1], IkReal rawroots[3], int &amp;numroots)</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>polyroots4</name>
      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>(IkReal rawcoeffs[4+1], IkReal rawroots[4], int &amp;numroots)</arglist>
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      <name>_ij0</name>
      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>[2]</arglist>
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      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>[2]</arglist>
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      <name>_ij100</name>
      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>[2]</arglist>
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