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      <anchor>ac6302bd7662406236d4c6834fdfadb1c</anchor>
      <arglist>(const std::string &amp;serial_port_name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>openSerialPort</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a07f73ea4a9a7a672318282019b49fea9</anchor>
      <arglist>(const std::string &amp;serial_port_name, serial::Serial::Timeout &amp;timeout)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>openSerialPort</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a52aed6788f17b245e52c5c1716d9a42c</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint32_t baud_rate)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>openSerialPort</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
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      <arglist>(const std::string &amp;serial_port_name, uint32_t baud_rate, serial::Serial::Timeout &amp;timeout)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>parsePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a44744dc25cf3f15c49f051cea1778af4</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>parsePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a834b38e80b8a371ad35de01ec6a7a3e8</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, std::vector&lt; int8_t &gt; &amp;data_in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>readPackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a91f505bf153850d997f936ba098adcbf</anchor>
      <arglist>(const std::string &amp;serial_port_name, std::vector&lt; uint8_t &gt; &amp;package_in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>readPackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a09a669b761dea21b4af2c5a6ee180495</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t &amp;device_id, uint8_t &amp;command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>readPackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a9cfb163066701f223b83b792b0c8824e</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t &amp;device_id, uint8_t &amp;command, std::vector&lt; int8_t &gt; &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommand</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a60646559b1bb90225218e74fc366885e</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommand</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
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      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, const std::vector&lt; int8_t &gt; &amp;data_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>aeb4d64ab079a7d00973c1cb53ce6a59b</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a1cfc67bea8d717b7c4a454c0f58b6413</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, const std::vector&lt; int8_t &gt; &amp;data_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a6b7e1bd72aaee00f15539ee538a724f8</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, const std::vector&lt; int8_t &gt; &amp;data_out, std::vector&lt; int8_t &gt; &amp;data_in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>aa9e532d52055c79be44531af224f622e</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, std::vector&lt; int8_t &gt; &amp;data_in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a8dbfc269f8b850106ccc857564d0fdf7</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a70530a04fafd50aaebdec4810030ea47</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, const std::vector&lt; int8_t &gt; &amp;data_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>aeb28e5dbaa6a6e515920d8512078aa61</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, const std::vector&lt; int8_t &gt; &amp;data_out, std::vector&lt; int8_t &gt; &amp;data_in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a36bc81b7eb7f6da0ba10cd9c88eaf232</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, std::vector&lt; int8_t &gt; &amp;data_in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandBroadcast</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a8168fde2f4b84a7eb0b8c0d7d398ebe3</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sendCommandBroadcast</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a4911c9130a38a9059803e11d37999111</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t command, const std::vector&lt; int8_t &gt; &amp;data_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>serializePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a75af9a9851a2e7d0a103e7dc5cb1edaf</anchor>
      <arglist>(uint8_t device_id, uint8_t command, const std::vector&lt; int8_t &gt; &amp;data, std::vector&lt; uint8_t &gt; &amp;package_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>serializePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>ad71457350e01a06a48793423d0c56fa2</anchor>
      <arglist>(uint8_t device_id, uint8_t command, std::vector&lt; uint8_t &gt; &amp;package_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>writePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a395c48f93737816e43981a666df174e5</anchor>
      <arglist>(const std::string &amp;serial_port_name, const std::vector&lt; uint8_t &gt; &amp;package_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>writePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>ab61f8d51080ac1ece6f545578ec26817</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>writePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a73c22d500ba40e4e7e7399684d9ae1a0</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, const std::vector&lt; int8_t &gt; &amp;data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Communication</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a446971762f8e858342e8883879313c57</anchor>
      <arglist>()=default</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>swapBytes</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a950db1a74cc6e73ae51009d40fc06712</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;vector)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>swapBytes</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a71585047ec2fd926af64317642c6b2f2</anchor>
      <arglist>(T &amp;x)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::vector&lt; S &gt;</type>
      <name>vectorCast</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>af3c6691750e461b32d65d759deec93db</anchor>
      <arglist>(std::vector&lt; T &gt; vector)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::vector&lt; S &gt;</type>
      <name>vectorCastAndSwap</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a154ac55ae92e7390f29c05f82298e3b6</anchor>
      <arglist>(std::vector&lt; T &gt; vector)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::vector&lt; S &gt;</type>
      <name>vectorSwapAndCast</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a0d8c56aff53bd7e1d4fe7a638fb8a116</anchor>
      <arglist>(std::vector&lt; T &gt; vector)</arglist>
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    <member kind="function" protection="protected">
      <type></type>
      <name>Communication</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>adb632bb3afa56d56eebf9a132db67b49</anchor>
      <arglist>(const Communication &amp;communication)</arglist>
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    <member kind="function" protection="protected">
      <type></type>
      <name>Communication</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>aeff24c1decfa463776518fe839f073fe</anchor>
      <arglist>(const Communication &amp;communication, const serial::Serial::Timeout &amp;timeout)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isInSerialPorts</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
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      <arglist>(const std::string &amp;serial_port_name)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isInSerialPortsInfo</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a1a1d2e591d7181e177247814dc3628b6</anchor>
      <arglist>(const std::string &amp;serial_port_name)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetUp</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a301386a5c1fe116d465ae2b293f0ef39</anchor>
      <arglist>() override</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>TearDown</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a65a38372437ea8f3b7c069765d9c4b64</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, std::vector&lt; ConnectedDeviceInfo &gt; &gt;</type>
      <name>connected_devices_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a3ef899ab04cedce20376754e7661b390</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::unique_ptr&lt; qbroboticsResearchAPI::Device &gt; &gt;</type>
      <name>devices_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>aa1b1ac2c4dab30ab5d258ee0c44624f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::unique_ptr&lt; qbroboticsResearchAPI::Device &gt; &gt;</type>
      <name>devices_not_init_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>ae2faffe00108bcc6453b0554305af4a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unique_ptr&lt; qbroboticsResearchAPI::Device &gt;</type>
      <name>fake_device_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>ae8076a1ecddecbbdae9f607a9573d4e4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; qbroboticsResearchAPI::Communication &gt;</type>
      <name>handler_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a9b04e7d6ccdb1c91d36f3057a3c31998</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; serial::PortInfo &gt;</type>
      <name>serial_ports_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>acfa28e21fc4eddd3d84a14d66a9799e8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, std::shared_ptr&lt; serial::Serial &gt; &gt;</type>
      <name>serial_ports_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a6c47a432a3d48d714751f62ccd5a13f9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>serial_ports_baud_rate_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a5438c322530a29bd3c00a3e9f7129909</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, std::set&lt; uint8_t &gt; &gt;</type>
      <name>serial_ports_ids_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a0e0a60ff31958d4f0a24aa153247edbb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, serial::PortInfo &gt;</type>
      <name>serial_ports_info_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a63fd9db29826de94f3d25f9bb5ba8a40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>serial::Serial::Timeout</type>
      <name>serial_ports_timeout_</name>
      <anchorfile>classqbrobotics__research__api_1_1Communication.html</anchorfile>
      <anchor>a86fe3e5863389dacf62a3d657efceaab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>qbrobotics_research_api::CommunicationLegacy</name>
    <filename>classqbrobotics__research__api_1_1CommunicationLegacy.html</filename>
    <base>qbrobotics_research_api::Communication</base>
    <member kind="function">
      <type></type>
      <name>CommunicationLegacy</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>a81264bc4e2dfc561394bf3bb1d889225</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>CommunicationLegacy</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>afc2d63d2f5c95df4ddfffc01e81e4fd0</anchor>
      <arglist>(const Communication &amp;communication)</arglist>
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    <member kind="function">
      <type></type>
      <name>CommunicationLegacy</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>a35576b0f91b9df5a550b047173126167</anchor>
      <arglist>(const Communication &amp;communication, const serial::Serial::Timeout &amp;timeout)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>deserializePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>aabb2eac6b57dee64b8ba7725279d2614</anchor>
      <arglist>(const std::vector&lt; uint8_t &gt; &amp;package_in, uint8_t &amp;device_id, uint8_t &amp;command, std::vector&lt; int8_t &gt; &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>parsePackage</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>a61baabd29e49b3c8001b6f8f3211437c</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, std::vector&lt; int8_t &gt; &amp;data_in) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>readLongPackage</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>ad4d77ebc26499a456e9083e3695981be</anchor>
      <arglist>(const std::string &amp;serial_port_name, std::vector&lt; uint8_t &gt; &amp;package_in)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>readPackage</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>a2db1835c6b9e8934766417382f2021a3</anchor>
      <arglist>(const std::string &amp;serial_port_name, std::vector&lt; uint8_t &gt; &amp;package_in) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>readPackage</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>ae88c517546cc2ba925c34193839ae907</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t &amp;device_id, uint8_t &amp;command, std::vector&lt; int8_t &gt; &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>sendCommandAndParse</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>a5d149ca6753bb9bfff8f3d37bc480e69</anchor>
      <arglist>(const std::string &amp;serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, const std::vector&lt; int8_t &gt; &amp;data_out, std::vector&lt; int8_t &gt; &amp;data_in) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CommunicationLegacy</name>
      <anchorfile>classqbrobotics__research__api_1_1CommunicationLegacy.html</anchorfile>
      <anchor>a2674c1fef18524e6f1499a4708bf424d</anchor>
      <arglist>()=default</arglist>
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  <compound kind="struct">
    <name>qbrobotics_research_api::Communication::ConnectedDeviceInfo</name>
    <filename>structqbrobotics__research__api_1_1Communication_1_1ConnectedDeviceInfo.html</filename>
    <member kind="variable">
      <type>uint8_t</type>
      <name>id</name>
      <anchorfile>structqbrobotics__research__api_1_1Communication_1_1ConnectedDeviceInfo.html</anchorfile>
      <anchor>abb51e9e6928630db85165c5a9e53d822</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::string</type>
      <name>serial_number</name>
      <anchorfile>structqbrobotics__research__api_1_1Communication_1_1ConnectedDeviceInfo.html</anchorfile>
      <anchor>a2c79c27b4e7b07a2a410ffd9f7008284</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>structqbrobotics__research__api_1_1Communication_1_1ConnectedDeviceInfo.html</anchorfile>
      <anchor>a5c1f61267a53ab3763951e545939adea</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::string</type>
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      <anchorfile>structqbrobotics__research__api_1_1Communication_1_1ConnectedDeviceInfo.html</anchorfile>
      <anchor>aaac1b9eafab02bc96f36d4d3666ce472</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>qbrobotics_research_api::Device</name>
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    <class kind="class">qbrobotics_research_api::Device::Params</class>
    <member kind="function">
      <type></type>
      <name>Device</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a72d7e4f2a8b9d5f4686065721dccba55</anchor>
      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id)</arglist>
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    <member kind="function">
      <type></type>
      <name>Device</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a9dbcd391c2f9adc7009d10f24232e2e3</anchor>
      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params)</arglist>
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    <member kind="function">
      <type></type>
      <name>Device</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr&lt; Params &gt; params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getAccelerations</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a7a7fae04e77a3823a944dede629e53c5</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;accelerations)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getControlReferences</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a4f4f6b29c28b8eca3a4bc4710e193c6d</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;control_references)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getCurrents</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ae7b0401ba93abe568a5ebb8878bbfc01</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;currents)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getCurrentsAndPositions</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a9eb8d8b5d9776687fd72dc1863e77872</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;currents, std::vector&lt; int16_t &gt; &amp;positions)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getCycleTime</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a00692f7e7d913a0a87be0a0a9e0549a8</anchor>
      <arglist>(int16_t &amp;cycle_time)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getInfo</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a34a5a4424b426db20c79bee3ed079e26</anchor>
      <arglist>(std::string &amp;info)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getInfo</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a9f92fe47db6516ecdaec529e7c2fa01b</anchor>
      <arglist>(uint16_t info_type, std::string &amp;info)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getMotorStates</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a34f19bab2c2defca09c9d33dd162b0e6</anchor>
      <arglist>(bool &amp;motor_state)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamControlMode</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a252a315aa281b1ae81450413bdce5ea1</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamControlMode</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a56a7c3ff725d9c8430ae16690495513b</anchor>
      <arglist>(uint8_t &amp;control_mode)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamCurrentLimit</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aa23281cd8358dd68e59ec52e7b561e23</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamCurrentLimit</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a8f259f6d9e8ba01e1dc0d233cc3cd417</anchor>
      <arglist>(int16_t &amp;current_limit)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamCurrentPID</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a15ad44def0a4b22769821fa5c8723a26</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamCurrentPID</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a93dcee9477213eeaf1cf71e6a5b4b906</anchor>
      <arglist>(std::vector&lt; float &gt; &amp;current_pid)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamEncoderMultipliers</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a0206b89e1bad965296ea2621576cc73d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamEncoderMultipliers</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a3a620570a79c9bb33a4e0cf19e2e8afb</anchor>
      <arglist>(std::vector&lt; float &gt; &amp;encoder_multipliers)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aec046198eb0433d741921c1a0dc69c09</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a54b96d7ff7874062dd173f17d1d24a9d</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;encoder_offsets)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamEncoderResolutions</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>af25716ffc9828e287ce9752ea7faeb66</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamEncoderResolutions</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a15a6ab29c661e48477eb8296cb15ce62</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; &amp;encoder_resolutions)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParameters</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ab8ed6c50f43886b76f830431421528ca</anchor>
      <arglist>(std::vector&lt; int8_t &gt; &amp;param_buffer)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParameters</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ac5634e4478871aa70b53f615364fe217</anchor>
      <arglist>(uint8_t id, std::vector&lt; int8_t &gt; &amp;param_buffer)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamId</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>afee94fc2c9d81640c13a2d7086d63fa5</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamId</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a371aaf9bb59699a8e3c8ef4c86e03349</anchor>
      <arglist>(uint8_t &amp;id)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamInputMode</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ad5d4160a632180d2a2ba4f5af45ae549</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamInputMode</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ae1b66b930882a345dab3e098564c7a76</anchor>
      <arglist>(uint8_t &amp;input_mode)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamPositionLimits</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a29a0ceb9f755833ec253ce56cfb888b1</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamPositionLimits</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a5545f7709a3a5e40ac4b39cc7fb28ac8</anchor>
      <arglist>(std::vector&lt; int32_t &gt; &amp;position_limits)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamPositionMaxSteps</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ae7789d41a818a23310869f25db6fa509</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamPositionMaxSteps</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a9b90b53afa39aa64f5e1f956bcb82b76</anchor>
      <arglist>(std::vector&lt; int32_t &gt; &amp;position_max_steps)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamPositionPID</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a1f3d7e132926814518c32d06f3caf734</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamPositionPID</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a8fee6ee402a205d543942b40d7e91a8e</anchor>
      <arglist>(std::vector&lt; float &gt; &amp;position_pid)</arglist>
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    <member kind="function">
      <type>std::shared_ptr&lt; Params &gt;</type>
      <name>getParams</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aaa2b8f0c11665c277caa204f3e868112</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamStartupActivation</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a729ea7f464245e273ff8795b169d8f31</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamStartupActivation</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a24af6cdf0cd24137825ac00d217f5994</anchor>
      <arglist>(uint8_t &amp;startup_activation)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamUsePositionLimits</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a5bb95ca40e718a0d8556cbe82dce3902</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getParamUsePositionLimits</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>acc98ec21cf2136ce8852c0f95ceda94f</anchor>
      <arglist>(uint8_t &amp;use_position_limits)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getPositions</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>afba8c562cdfa63bfaea0aebb1ce1d3bb</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;positions)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getVelocities</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aa9e5d4513e72260921b7fd9493c606e5</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;velocities)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isQbmove</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a9c6f1dca4f0576e4c0ff8203903e2fb7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSH2M</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aa1f79c0e4502777dfbbb82daa3f37eb4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isSHPRO</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a105f629304e72463979fbf85a3b236d8</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>ping</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a8ef32804761db6b408e2bb70118a9f98</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>restoreFactoryDataMemory</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ae2f5a3334f290e81746c082b03d01b32</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>restoreUserDataMemory</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aad5329e2a90656593fd0f48bbceab486</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setBootloaderMode</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a75ac6458802dd8385825cb5769dfa603</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setControlReferences</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ab3cb630144890877359baab71d4c8e47</anchor>
      <arglist>(const std::vector&lt; int16_t &gt; &amp;control_references)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setControlReferencesAndWait</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aaab4e27f937e1fa91695308d7a0d0517</anchor>
      <arglist>(const std::vector&lt; int16_t &gt; &amp;control_references)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setMotorStates</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a4dcd47bdb89a65169f7d709289c6d7bb</anchor>
      <arglist>(bool motor_state)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamBaudrate</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ab2d1cb522c769690468e00cb8c82a396</anchor>
      <arglist>(uint8_t prescaler_divider)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamControlMode</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ada4e41d7069bb16ca6d26f6f59a04835</anchor>
      <arglist>(uint8_t control_mode)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamCurrentLimit</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ad05d46c35b967a9f14df8541ec554cad</anchor>
      <arglist>(int16_t current_limit)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamCurrentPID</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aebee345d0eba7fe7bb4d8d33b49833b3</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;current_pid)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamEncoderMultipliers</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a618f7e56b3ce88014ed774468c6c82e4</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;encoder_multipliers)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>adf692dfc4b862f475525596e4b2cca76</anchor>
      <arglist>(const std::vector&lt; int16_t &gt; &amp;encoder_offsets)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamEncoderResolutions</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>ae98873231017a28f44d1bf3be8117d91</anchor>
      <arglist>(const std::vector&lt; uint8_t &gt; &amp;encoder_resolutions)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParameter</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>a4330e42d45e3014e2251bcd1a2c4a3b8</anchor>
      <arglist>(uint16_t param_type, const std::vector&lt; int8_t &gt; &amp;param_data)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setParamId</name>
      <anchorfile>classqbrobotics__research__api_1_1Device.html</anchorfile>
      <anchor>aff8d04a830e11620b8530e22e9b8bc5a</anchor>
      <arglist>(uint8_t id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
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      <arglist>(qb_device_srvs::TriggerRequest &amp;request, qb_device_srvs::TriggerResponse &amp;response)</arglist>
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    <member kind="function" protection="protected">
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      <arglist>(const int &amp;max_repeats)</arglist>
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      <arglist>(qb_device_srvs::TriggerRequest &amp;request, qb_device_srvs::TriggerResponse &amp;response)</arglist>
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      <arglist>(const int &amp;id, const int &amp;max_repeats)</arglist>
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      <arglist>(const int &amp;id)</arglist>
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      <arglist>(const int &amp;id, const int &amp;max_repeats, std::vector&lt; short int &gt; &amp;commands)</arglist>
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      <arglist>(const int &amp;id, std::vector&lt; short int &gt; &amp;commands)</arglist>
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      <type>bool</type>
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      <arglist>(qb_device_srvs::SetCommandsRequest &amp;request, qb_device_srvs::SetCommandsResponse &amp;response)</arglist>
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      <arglist>(const int &amp;id, const int &amp;max_repeats, uint8_t &amp;control_id)</arglist>
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      <type>bool</type>
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      <arglist>(qb_device_srvs::SetControlModeRequest &amp;request, qb_device_srvs::SetControlModeResponse &amp;response)</arglist>
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      <arglist>(const int &amp;id, const int &amp;max_repeats, std::vector&lt; float &gt; &amp;pid)</arglist>
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      <type>bool</type>
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      <arglist>(qb_device_srvs::SetPIDRequest &amp;request, qb_device_srvs::SetPIDResponse &amp;response)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const int &amp;id, const bool &amp;command, const int &amp;max_repeats)</arglist>
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      <arglist>(int const &amp;failures, int const &amp;max_repeats)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() override</arglist>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id)</arglist>
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    <member kind="function">
      <type></type>
      <name>qbmoveLegacyResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params)</arglist>
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    <member kind="function">
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      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
      <anchor>ab518240758ef9f964758ac1d5fb9ec17</anchor>
      <arglist>(bool motor_state) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
      <anchor>a2696e162c937103c0bcab1dafff0503f</anchor>
      <arglist>(const std::vector&lt; int16_t &gt; &amp;encoder_offsets) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParameter</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
      <anchor>a76ef947d141727f60887f9346ea768bd</anchor>
      <arglist>(uint16_t param_type, const std::vector&lt; int8_t &gt; &amp;param_data) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParamId</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
      <anchor>ad63befe505af47018b45e10f0288b112</anchor>
      <arglist>(uint8_t id) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParamZeros</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
      <anchor>a4419a52cae3cf18e4be4d5adb78cd2b5</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>~qbmoveLegacyResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveLegacyResearch.html</anchorfile>
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      <arglist>() override=default</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchor>a0c3112aae6cbcedad93517a4230bfe59</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
      <anchor>aec960f725ff31983a3d129b8b59c21ab</anchor>
      <arglist>(uint8_t &amp;rate_limiter)</arglist>
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    <member kind="function">
      <type></type>
      <name>qbmoveResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
      <anchor>af8d22a90d2f7e975e72b030d99a7a2b5</anchor>
      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id)</arglist>
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    <member kind="function">
      <type></type>
      <name>qbmoveResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
      <anchor>aa737299b1f0321c0a6eb6771e1a148fd</anchor>
      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params)</arglist>
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    <member kind="function">
      <type></type>
      <name>qbmoveResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr&lt; Device::Params &gt; params)</arglist>
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    <member kind="function">
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      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
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      <arglist>(uint8_t rate_limiter)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
      <anchor>ac3ac74229e058ab17aa8a9a2f00e2d05</anchor>
      <arglist>(int16_t position, int16_t stiffness)</arglist>
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    <member kind="function">
      <type></type>
      <name>~qbmoveResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbmoveResearch.html</anchorfile>
      <anchor>af01a837c2ecba90d4d22e9fa3bb64c6f</anchor>
      <arglist>() override=default</arglist>
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  <compound kind="class">
    <name>qbrobotics_research_api::qbSoftHand2MotorsResearch</name>
    <filename>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</filename>
    <base>qbrobotics_research_api::Device</base>
    <class kind="class">qbrobotics_research_api::qbSoftHand2MotorsResearch::Params</class>
    <member kind="function">
      <type>int</type>
      <name>getParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a2577f530e4e24b32d27ef128bd8dc835</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>(std::vector&lt; int16_t &gt; &amp;encoder_offsets) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamHandSide</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>(uint8_t &amp;hand_side)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a9ea845b49b6aaa3fa836132b4a804439</anchor>
      <arglist>(std::vector&lt; int16_t &gt; &amp;synergies)</arglist>
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    <member kind="function">
      <type></type>
      <name>qbSoftHand2MotorsResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>abd6faddbf158bc8cbb6df3e41c2ad14d</anchor>
      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id)</arglist>
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    <member kind="function">
      <type></type>
      <name>qbSoftHand2MotorsResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a99f44628ca033b4765d6a4047989c8fc</anchor>
      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setAdditiveSynergiesReferences</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a7f191cf5bb797cc1a8cf083ed560b61c</anchor>
      <arglist>(int16_t synergy_1, int16_t synergy_2)</arglist>
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    <member kind="function">
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>(bool motor_state) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setMultiplicativeSynergiesReferences</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>ad5fb6ee0dc4ee41c63cdcd0e7228688c</anchor>
      <arglist>(float synergy_1, float synergy_2)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParamEncoderOffsets</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a3f7832401655074c733b90af4f90f27f</anchor>
      <arglist>(const std::vector&lt; int16_t &gt; &amp;encoder_offsets) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParameter</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>(uint16_t param_type, const std::vector&lt; int8_t &gt; &amp;param_data) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParamHandSide</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a959d33aa3e9c171e94def7e053d1ff9f</anchor>
      <arglist>(uint8_t hand_side)</arglist>
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    <member kind="function">
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
      <anchor>a4a9c978dc70c57924537c9e414d0594f</anchor>
      <arglist>(uint8_t id) override</arglist>
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    <member kind="function">
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>~qbSoftHand2MotorsResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHand2MotorsResearch.html</anchorfile>
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      <arglist>() override=default</arglist>
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    <base>qbrobotics_research_api::qbSoftHandResearch</base>
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      <type></type>
      <name>qbSoftHandLegacyResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandLegacyResearch.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id)</arglist>
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    <member kind="function">
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      <name>qbSoftHandLegacyResearch</name>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params)</arglist>
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    <member kind="function">
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      <name>qbSoftHandLegacyResearch</name>
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      <arglist>(std::shared_ptr&lt; Communication &gt; communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr&lt; Device::Params &gt; params)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandLegacyResearch.html</anchorfile>
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      <arglist>(bool motor_state) override</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandLegacyResearch.html</anchorfile>
      <anchor>a62e1bee3129b48f90090374d09d8b370</anchor>
      <arglist>(uint16_t param_type, const std::vector&lt; int8_t &gt; &amp;param_data) override</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandLegacyResearch.html</anchorfile>
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      <arglist>(uint8_t id) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setParamZeros</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandLegacyResearch.html</anchorfile>
      <anchor>ab56dcc8196e9ee20f2ea43d9b625fdc0</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>~qbSoftHandLegacyResearch</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandLegacyResearch.html</anchorfile>
      <anchor>a4ad324abf390c70666b24cdc4ff675a2</anchor>
      <arglist>() override=default</arglist>
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    <filename>classqbrobotics__research__api_1_1qbSoftHandResearch.html</filename>
    <base>qbrobotics_research_api::Device</base>
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    <member kind="function">
      <type>int</type>
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      <arglist>(std::vector&lt; int16_t &gt; &amp;emg_values)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getJoystick</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
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      <arglist>(std::vector&lt; int16_t &gt; &amp;joystick_values)</arglist>
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    <member kind="function">
      <type>int</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamCurrentLookupTable</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a5c04e020cf0584699293a6c8fd9e0c82</anchor>
      <arglist>(std::vector&lt; float &gt; &amp;current_lookup_table)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEMGMaxValues</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a46f4cc1d223d21b48d7a8d696482eace</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEMGMaxValues</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>ac871483b30425b8f7f65887cfa84963a</anchor>
      <arglist>(std::vector&lt; uint32_t &gt; &amp;emg_max_value)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEMGSpeed</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a00483960f3250227e5d7ab13b6532e5f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEMGSpeed</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a3067abc2e941927d772b503cee55f9dd</anchor>
      <arglist>(uint8_t &amp;emg_speed)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEMGThresholds</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a4895c02e9ac89ba7e58682f2be163f3f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamEMGThresholds</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a04bfded57fd1316d0400ff1085b30644</anchor>
      <arglist>(std::vector&lt; uint16_t &gt; &amp;emg_thresholds)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamHandleRatio</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>aed682190d7c72173ec7cc18b01f96c16</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a924a7e1d172b655ee6ab92dd7681ce69</anchor>
      <arglist>(int8_t &amp;handle_ratio)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamRateLimiter</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>aa8fa9eabe6c7a7fd826a55c5c6904732</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>ac465a3ab2899106acfa41b727ab4c4f6</anchor>
      <arglist>(uint8_t &amp;rate_limiter)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamUseDoubleEncoder</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a1ab9886c77be69f1187c39c48defbc2e</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamUseDoubleEncoder</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a76d9520d912270f777cb993d38811c19</anchor>
      <arglist>(uint8_t &amp;use_double_encoder)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamUseEMGCalibration</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a213a8bbf40998ff182f2f946449eb9da</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamUseEMGCalibration</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a66101399243ca33613652fdd11e8a926</anchor>
      <arglist>(uint8_t &amp;use_emg_calibration)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamUsePWMRescaling</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>a1f02939bb5b298ef112ca69f0dec7d79</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamUsePWMRescaling</name>
      <anchorfile>classqbrobotics__research__api_1_1qbSoftHandResearch.html</anchorfile>
      <anchor>aa0e0ed2d95a32a3362b665958fb6a777</anchor>
      <arglist>(uint8_t &amp;use_pwm_rescaling)</arglist>
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