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    <filename>classrobotis__manipulator_1_1JointTrajectory.html</filename>
    <member kind="function">
      <type>JointWaypoint</type>
      <name>getJointWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>aef1a0eaac83af6599f2bef674d299f4c</anchor>
      <arglist>(double tick)</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getMinimumJerkCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>a2a471ffc50baf5d83bd857ea57ed3ccd</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>JointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>abeaf864dbc1fa619ca8870c03f36f8b5</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>a49cb3262325d92047eca7beb5237f897</anchor>
      <arglist>(double move_time, JointWaypoint start, JointWaypoint goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~JointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>a971255bd9c193d9c333f1c095692f7e3</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>uint8_t</type>
      <name>coefficient_size_</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>abfc3d7ff3a5789f818ce2a483118458a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>minimum_jerk_coefficient_</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>a74b431132c75c6840b70ea62f65d3c48</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MinimumJerk</type>
      <name>minimum_jerk_trajectory_generator_</name>
      <anchorfile>classrobotis__manipulator_1_1JointTrajectory.html</anchorfile>
      <anchor>a7138717ca5cd53ca07e3ff9c68494170</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <filename>classrobotis__manipulator_1_1Kinematics.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classrobotis__manipulator_1_1Kinematics.html</anchorfile>
      <anchor>a8644b348452df2f0a46b00aadc36c218</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name)=0</arglist>
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    <member kind="function">
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      <name>Kinematics</name>
      <anchorfile>classrobotis__manipulator_1_1Kinematics.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classrobotis__manipulator_1_1Kinematics.html</anchorfile>
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      <arglist>(const void *arg)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1Kinematics.html</anchorfile>
      <anchor>adfdd3727052c27d12e3fc2209c025317</anchor>
      <arglist>(Manipulator *manipulator)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1Kinematics.html</anchorfile>
      <anchor>a6065cf1bff763854b9a0bd62945a093b</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_position)=0</arglist>
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      <type>virtual</type>
      <name>~Kinematics</name>
      <anchorfile>classrobotis__manipulator_1_1Kinematics.html</anchorfile>
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      <arglist>()</arglist>
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    <filename>classrobotis__manipulator_1_1Manipulator.html</filename>
    <member kind="function">
      <type>void</type>
      <name>addComponentChild</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name my_name, Name child_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a4c52e23667a17b4d4ce6935628aa5952</anchor>
      <arglist>(Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a8461bc2ec1d854cd46471bb3ad4b7b9e</anchor>
      <arglist>(Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a703e6d5646e595281d0352c2d0363327</anchor>
      <arglist>(Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())</arglist>
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      <name>checkComponentType</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a5b1f27b9cc2875b4e0275e3b88ab1b28</anchor>
      <arglist>(Name component_name, ComponentType component_type)</arglist>
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    <member kind="function">
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      <name>checkJointLimit</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a715e5825f289765d1c6ce9687ce6c6e5</anchor>
      <arglist>(Name Component_name, double value)</arglist>
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    <member kind="function">
      <type>Name</type>
      <name>findComponentNameUsingId</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a9f8406b7a5be743cc2dfc29a9f7ea647</anchor>
      <arglist>(int8_t id)</arglist>
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    <member kind="function">
      <type>std::vector&lt; Name &gt;</type>
      <name>getAllActiveJointComponentName</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>af746f90412f3a1f08dee32a855ca177c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; uint8_t &gt;</type>
      <name>getAllActiveJointID</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a36d90688599cbd3067ce1d0c07f514aa</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>getAllActiveJointPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a5910fd02cefde8b34e7db6af4ab8415d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>getAllActiveJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>ae11f05005b456e13ef17585a70179dce</anchor>
      <arglist>()</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>getAllJointID</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>getAllJointPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a32a7e8ec9292d714fe824982f2f21c83</anchor>
      <arglist>()</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; Name &gt;</type>
      <name>getAllToolComponentName</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a53cf6f3195057072869795ebac3b8dce</anchor>
      <arglist>()</arglist>
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      <type>std::vector&lt; double &gt;</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>af3ed7fd19820970d246f4a2459151075</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a996f60dc81526d473a3e5223d58979c7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>getAxis</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a87ccf9e102541d37ef93f3952a1d2ac9</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a437ac5f137aa788c4db07690c185e9ba</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>Component</type>
      <name>getComponent</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a38623495d8fb45236c6acf119f388abf</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>Name</type>
      <name>getComponentActuatorName</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a371446cbf4d2d5a572b173d713305fb1</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>Eigen::Vector3d</type>
      <name>getComponentCenterOfMass</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a7002f6083a3f72754189c60d9e92241a</anchor>
      <arglist>(Name component_name)</arglist>
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      <name>getComponentChildName</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a21d1f387435215c3675517581cf225dd</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>DynamicPose</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>abebe232d3d0f532920d38194296733bf</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>Eigen::Matrix3d</type>
      <name>getComponentInertiaTensor</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a05d58cf6a4e7540d00a8621f9ba83f07</anchor>
      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>abf86af18bdea1094c29763366167bfd5</anchor>
      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a9228f1f4b7fd627da2a618b79b2f0c0b</anchor>
      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
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      <arglist>(Name component_name)</arglist>
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      <arglist>(Name component_name)</arglist>
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      <arglist>(Name component_name)</arglist>
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      <arglist>(Name component_name)</arglist>
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      <arglist>(Name component_name)</arglist>
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      <arglist>(Name component_name)</arglist>
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      <arglist>(Name component_name)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a4c301d01641037e7548a1b87e6103f65</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printManipulatorSetting</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a4905d7e23cba50ee7c518d078774efe8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAllActiveJointPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a5c1a45efe548837cfa8bb51ccc65a757</anchor>
      <arglist>(std::vector&lt; double &gt; joint_position_vector)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAllActiveJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>af42c8e7d8b0a1fe505832d632348e804</anchor>
      <arglist>(std::vector&lt; JointValue &gt; joint_value_vector)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setAllJointPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a5752ed8828468e7a6f729871ff812205</anchor>
      <arglist>(std::vector&lt; double &gt; joint_position_vector)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setAllJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a383388a3c388fbfc4482f670d5e4ad10</anchor>
      <arglist>(std::vector&lt; JointValue &gt; joint_value_vector)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setAllToolPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a1ef41a8b1c12d416646fd0291f66ea81</anchor>
      <arglist>(std::vector&lt; double &gt; tool_position_vector)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setAllToolValue</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>aea664539cecc8a68c7d58ccbf9760787</anchor>
      <arglist>(std::vector&lt; JointValue &gt; tool_value_vector)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponent</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a3592945e556a0762c4d306817f3d700f</anchor>
      <arglist>(Name component_name, Component component)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponentActuatorName</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a27e5f2bca0da521334d59600134bd28b</anchor>
      <arglist>(Name component_name, Name actuator_name)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponentDynamicPoseFromWorld</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a904b6dccb05e5edaae2c7e29d54fd197</anchor>
      <arglist>(Name component_name, DynamicPose dynamic_pose)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponentKinematicPoseFromWorld</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a385fe607bab5200b5898541d4d03a005</anchor>
      <arglist>(Name component_name, KinematicPose pose_to_world)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponentOrientationFromWorld</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a692e8e4bdf8affcfe615f7fc56f1d5f0</anchor>
      <arglist>(Name component_name, Eigen::Matrix3d orientation_to_wolrd)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponentPoseFromWorld</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>ad070b3aba379f97459e2c784626d05a4</anchor>
      <arglist>(Name component_name, Pose pose_to_world)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setComponentPositionFromWorld</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>ab3b7bbd92252755711019606642f83c6</anchor>
      <arglist>(Name component_name, Eigen::Vector3d position_to_world)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setJointAcceleration</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a07211b030e35d36d64c620eac5e45f92</anchor>
      <arglist>(Name name, double acceleration)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setJointEffort</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>aa8b95ee42ecd2e93496f546c144609bf</anchor>
      <arglist>(Name name, double effort)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setJointPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>acedaab5099be0997bb2aae307c81fa80</anchor>
      <arglist>(Name name, double position)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>aa740b17551040520851ec8dc1d619bfe</anchor>
      <arglist>(Name name, JointValue joint_value)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setJointVelocity</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>aa8d57910111e9d1ec39313d2527b6c08</anchor>
      <arglist>(Name name, double velocity)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setTorqueCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a67ec0c2184a658ebf29368c9b4c1b606</anchor>
      <arglist>(Name component_name, double torque_coefficient)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWorldAngularAcceleration</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a456c183bce6514a5b5c1b1524c5033ac</anchor>
      <arglist>(Eigen::Vector3d world_angular_acceleration)</arglist>
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    <member kind="function">
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a8fb7188e96d33514a8e5205c79d9b0fc</anchor>
      <arglist>(Eigen::Vector3d world_angular_velocity)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a15476bd6ca87081029c96dd8c6bad319</anchor>
      <arglist>(DynamicPose world_dynamic_pose)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWorldKinematicPose</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a2e6c5c86669eff458be6bbd0c960f0cf</anchor>
      <arglist>(KinematicPose world_kinematic_pose)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWorldLinearAcceleration</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a6907a02ab76092769a74f1197bedd381</anchor>
      <arglist>(Eigen::Vector3d world_linear_acceleration)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWorldLinearVelocity</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a9d842b9fc11e76aad985b86b4814caf5</anchor>
      <arglist>(Eigen::Vector3d world_linear_velocity)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWorldOrientation</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>aeb2ca276081f334d2dcdd8808660189d</anchor>
      <arglist>(Eigen::Matrix3d world_orientation)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a0a6290aa7c975c78e0d024be9bedd802</anchor>
      <arglist>(Pose world_pose)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWorldPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a7e07c0d513fbac5e758280a3105543d9</anchor>
      <arglist>(Eigen::Vector3d world_position)</arglist>
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    <member kind="function">
      <type></type>
      <name>~Manipulator</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a90c57c694c00e9380ccd3c399ef85acf</anchor>
      <arglist>()</arglist>
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      <type>std::map&lt; Name, Component &gt;</type>
      <name>component_</name>
      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a20b388b821f161972c2cf737fe1c26db</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int8_t</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a39092ac588acd5e8713b55e18b85aebb</anchor>
      <arglist></arglist>
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      <type>World</type>
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      <anchorfile>classrobotis__manipulator_1_1Manipulator.html</anchorfile>
      <anchor>a2da05841bad220ca4072a11649777bb6</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type>void</type>
      <name>calcCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1MinimumJerk.html</anchorfile>
      <anchor>afd29204e588525a2688a74d2a9656354</anchor>
      <arglist>(Point start, Point goal, double move_time)</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>getCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1MinimumJerk.html</anchorfile>
      <anchor>a1610599c85567422e492e0893e02cc34</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>MinimumJerk</name>
      <anchorfile>classrobotis__manipulator_1_1MinimumJerk.html</anchorfile>
      <anchor>a9cb2cb3c451d6c1709f2cea01f0b8ce4</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MinimumJerk</name>
      <anchorfile>classrobotis__manipulator_1_1MinimumJerk.html</anchorfile>
      <anchor>aad3345d5cde2785b5fc69e2d79ed39ae</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
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      <anchorfile>classrobotis__manipulator_1_1MinimumJerk.html</anchorfile>
      <anchor>aba337700d848e93b2776ff96ee4485bc</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
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    <filename>classrobotis__manipulator_1_1RobotisManipulator.html</filename>
    <member kind="function">
      <type>void</type>
      <name>addComponentChild</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a46b8a455b56b79d21ff45c5f0961efef</anchor>
      <arglist>(Name my_name, Name child_name)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>addCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>acba87dc54d9d75dd65d0bba0ad810ffe</anchor>
      <arglist>(Name trajectory_name, CustomJointTrajectory *custom_trajectory)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>addCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a5d60df52f23bed89642b39af84046aa5</anchor>
      <arglist>(Name trajectory_name, CustomTaskTrajectory *custom_trajectory)</arglist>
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    <member kind="function">
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ad09962c8e7efd41a9ebbd9778b88068e</anchor>
      <arglist>(Dynamics *dynamics)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>addJoint</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1625fa539160992b50b63323de8d99ac</anchor>
      <arglist>(Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addJointActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a31742609d347630169ddc083bb390bb5</anchor>
      <arglist>(Name actuator_name, JointActuator *joint_actuator, std::vector&lt; uint8_t &gt; id_array, const void *arg)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>addKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a50556f2563927f3e3f9b73f6378f152f</anchor>
      <arglist>(Kinematics *kinematics)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>addTool</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ae40a048fa333a47f733442c6ffb99d0b</anchor>
      <arglist>(Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double object_mass=0.0, Eigen::Matrix3d object_inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d object_center_of_mass=Eigen::Vector3d::Zero())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addToolActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a88f0868c117783b630779270875793bd</anchor>
      <arglist>(Name tool_name, ToolActuator *tool_actuator, uint8_t id, const void *arg)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a31039ed1e93d8c9f1a83d31fadff4a5c</anchor>
      <arglist>(Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())</arglist>
    </member>
    <member kind="function">
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      <name>checkJointLimit</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a37a3225fe662919d78e32b860e64e61a</anchor>
      <arglist>(Name component_name, double position)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a58889d7ad25c86c1b7e1a17d07fbc45d</anchor>
      <arglist>(Name component_name, JointValue value)</arglist>
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      <anchor>a552fd021bf33ae2f21ffdd18bb104fb5</anchor>
      <arglist>(std::vector&lt; Name &gt; component_name, std::vector&lt; double &gt; position_vector)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a000f46b185190fc13e236546ea8a11fc</anchor>
      <arglist>(std::vector&lt; Name &gt; component_name, std::vector&lt; JointValue &gt; value_vector)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a45481ddd6bb9203e936e21f9a123ee25</anchor>
      <arglist>(Name actuator_name)</arglist>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a39ddc4fec0ebe31860b6d8c0caa03c70</anchor>
      <arglist>()</arglist>
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    <member kind="function">
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      <name>disableAllJointActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac09e6b56facde00b9eb07eead84091d7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aab20aa14df1e1ce04a82a6f38d0a8740</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>enableActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aa4b1b5f4c733cc21744e1c5e76ed46f9</anchor>
      <arglist>(Name actuator_name)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a12deb7fccba0dd37c58bbee691458af6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>enableAllJointActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ad0176ec40b940118eccf2b74b4864044</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>enableAllToolActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1374268ca98e71fe721d61640ca33114</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getActuatorEnabledState</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a6e35facbe46c68db4e77d28495c636c4</anchor>
      <arglist>(Name actuator_name)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>getAllActiveJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a7a544fa90d43e788db23532bc330aab2</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>getAllJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aa9b1913956d600a58c458e47217cedfb</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>getAllToolPosition</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a7c4d0c574f879cf8919d8ce8a1ba7ea6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
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      <name>getAllToolValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>acd4c2ee87fda3006165c67ce4f738625</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>DynamicPose</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1bcae2a87f1998fc659f02810808f7e3</anchor>
      <arglist>(Name component_name)</arglist>
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    <member kind="function">
      <type>Dynamics *</type>
      <name>getDynamics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac47b8c000556418720ebf4678a6878eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointActuator *</type>
      <name>getJointActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a3b4d780aa1d09b6f751dd475a5697227</anchor>
      <arglist>(Name actuator_name)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; uint8_t &gt;</type>
      <name>getJointActuatorId</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a8662851d365d64de8734a98cc873c0d7</anchor>
      <arglist>(Name actuator_name)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>getJointGoalValueFromTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ace100e979d65b462499ce581da2ab7d4</anchor>
      <arglist>(double present_time, int option=DYNAMICS_ALL_SOVING)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>getJointGoalValueFromTrajectoryTickTime</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aeabf7d5e0159fa82898e6372313ee44c</anchor>
      <arglist>(double tick_time)</arglist>
    </member>
    <member kind="function">
      <type>JointValue</type>
      <name>getJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ae43473d4edcaafb7e7885db3276d6280</anchor>
      <arglist>(Name joint_name)</arglist>
    </member>
    <member kind="function">
      <type>KinematicPose</type>
      <name>getKinematicPose</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a997b8676756be7cf1cbf04645c722df9</anchor>
      <arglist>(Name component_name)</arglist>
    </member>
    <member kind="function">
      <type>Kinematics *</type>
      <name>getKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a2d8c6f3a54a04a509780e4c6c3d1bbc3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Manipulator *</type>
      <name>getManipulator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a5c5d26ca7cd655464d453f19cb4d4929</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getMovingFailState</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac6c75775af1d04f60e4d9c3f5853caa8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getMovingState</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>afa3c8994013b876eb38f22b4128f147a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Pose</type>
      <name>getPose</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a601d652b8eb819eda2356d910e223e62</anchor>
      <arglist>(Name component_name)</arglist>
    </member>
    <member kind="function">
      <type>ToolActuator *</type>
      <name>getToolActuator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1139aba3c29401e3bfca4c0928cea92e</anchor>
      <arglist>(Name actuator_name)</arglist>
    </member>
    <member kind="function">
      <type>uint8_t</type>
      <name>getToolActuatorId</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a2ae6c2fe6b5e28a277b15b4e38764e21</anchor>
      <arglist>(Name actuator_name)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>getToolGoalValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac0816b1c8adeebf66577c88ceea0bf95</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointValue</type>
      <name>getToolValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a5c29e139b37a87f649b8233bd092b3f3</anchor>
      <arglist>(Name tool_name)</arglist>
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    <member kind="function">
      <type>Trajectory *</type>
      <name>getTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a4d6490b231d78e0c7af7de6fd3618c9f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getTrajectoryMoveTime</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aafbb0e172091a140ceb666fa54140b11</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a312cc64ae86dca8432769b10a73efd7c</anchor>
      <arglist>(Name tool_name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aba2b1b5163b27f3c3798101e464c7a52</anchor>
      <arglist>(Name trajectory_name, const void *arg, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a86e1f44227a3d404aca6dfcf1f100578</anchor>
      <arglist>(Name trajectory_name, Name tool_name, const void *arg, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac1bd38cb6d490dcee6f63c07cb55c993</anchor>
      <arglist>(Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>af38464086321c0a99c2bf50c1bdeb0b2</anchor>
      <arglist>(Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ad552a7cc60ed5fdee6c3867b4c2317bb</anchor>
      <arglist>(Name tool_name, KinematicPose goal_pose, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1ec523e2943d6d5af138b4bd855180ac</anchor>
      <arglist>(std::vector&lt; double &gt; goal_joint_position, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac7f884ef38d290b3f0e8eb89022b3b46</anchor>
      <arglist>(std::vector&lt; JointValue &gt; goal_joint_value, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectoryFromPresentPosition</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a3590ce6c0ee7a74b3379f4547ad00f0e</anchor>
      <arglist>(std::vector&lt; double &gt; delta_goal_joint_position, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a10cac970cfb9aa45b9fb781d54cc108b</anchor>
      <arglist>(Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a9e7d04ea1c6a25647887b3bad796d915</anchor>
      <arglist>(Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>af1e96186e4447f9c03cd74a4d5234eeb</anchor>
      <arglist>(Name tool_name, KinematicPose goal_pose, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectoryFromPresentPose</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ab81fdd551e91e0cc6816dbe80cff3a59</anchor>
      <arglist>(Name tool_name, Eigen::Matrix3d orientation_meter, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectoryFromPresentPose</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ada468019d102cb0e1f5fec3976d74403</anchor>
      <arglist>(Name tool_name, Eigen::Vector3d position_meter, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectoryFromPresentPose</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ad45cdd66ca28f463b98957f8cc1d4098</anchor>
      <arglist>(Name tool_name, KinematicPose goal_pose_delta, double move_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeToolTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a92da25ea16d3cb62b88a054df4b46d19</anchor>
      <arglist>(Name tool_name, double tool_goal_position)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printManipulatorSetting</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ae0325e6d7e3286a52431c9ecc8fa83e7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>receiveAllJointActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a445c7e5737940b0a560d715d587eadd5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>receiveAllToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aedef5967547a7c3ddb545d2efdd35b89</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>JointValue</type>
      <name>receiveJointActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a9ebd6f9d02c16ad41eebf0104a9f69cd</anchor>
      <arglist>(Name joint_component_name)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>receiveMultipleJointActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a6affcbccc199ff5fadcf6b827d368c91</anchor>
      <arglist>(std::vector&lt; Name &gt; joint_component_name)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; JointValue &gt;</type>
      <name>receiveMultipleToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a49ac3c2ae1b40f21bed7df77da3c7afe</anchor>
      <arglist>(std::vector&lt; Name &gt; tool_component_name)</arglist>
    </member>
    <member kind="function">
      <type>JointValue</type>
      <name>receiveToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a89d6e1651b6a9583b15f65e3fc836185</anchor>
      <arglist>(Name tool_component_name)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>resetMovingFailState</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a248d4e279166ba9ad66fd67f05a3e2f8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotisManipulator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a46568e9e7167e38bc9f249ead260d07e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>sendAllJointActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a0221920a4da676185d166415fc4d2914</anchor>
      <arglist>(std::vector&lt; JointValue &gt; value_vector)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>sendAllToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a38199015be96eda5b890a4d42036633b</anchor>
      <arglist>(std::vector&lt; JointValue &gt; value_vector)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>sendJointActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1e7fb766c94010660f5d9c6ffa0d898b</anchor>
      <arglist>(Name joint_component_name, JointValue value)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>sendMultipleJointActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ad90298397a0c6f9ffa5aa20cce0ab7e2</anchor>
      <arglist>(std::vector&lt; Name &gt; joint_component_name, std::vector&lt; JointValue &gt; value_vector)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>sendMultipleToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a88530b0521cd337c44ba87723135ef9c</anchor>
      <arglist>(std::vector&lt; Name &gt; tool_component_name, std::vector&lt; JointValue &gt; value_vector)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>sendToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ac1a87db540f2b546ff39269beb842da8</anchor>
      <arglist>(Name tool_component_name, JointValue value)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setCustomTrajectoryOption</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>abd3a5c412832dd7e6a54fb6d19a0b066</anchor>
      <arglist>(Name trajectory_name, const void *arg)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setDynamicsEnvironments</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>abfc75c035f1d5816c9e651418f9ad5c9</anchor>
      <arglist>(STRING param_name, const void *arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDynamicsOption</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a0825cf9c5de9fdc17ac34f3293c98ff4</anchor>
      <arglist>(STRING param_name, const void *arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setJointActuatorMode</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a12edd33c7cbd31cb1f8d5ab2beafde71</anchor>
      <arglist>(Name actuator_name, std::vector&lt; uint8_t &gt; id_array, const void *arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setKinematicsOption</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ad20c00086b950f1148b357fc6883d9fd</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setToolActuatorMode</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a10f6341223566e8cc5a3b504a972b043</anchor>
      <arglist>(Name actuator_name, const void *arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTorqueCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a0b18d72f3b29ff6230304f7f3aaca884</anchor>
      <arglist>(Name component_name, double torque_coefficient)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>sleepTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a3c7dcba706c1313b41eb239a0de4d6d0</anchor>
      <arglist>(double wait_time, std::vector&lt; JointValue &gt; present_joint_value={})</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveForwardDynamics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1d0d4b0d2a45584ce73ef39d06a775ed</anchor>
      <arglist>(std::map&lt; Name, double &gt; joint_torque)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a023ebba1d20ff9aa840891584d43464b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a59149616feeeb00d66676d27c78b61c7</anchor>
      <arglist>(std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solveGravityTerm</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a56a501d9b1dfaa1c5690dacf45e3870e</anchor>
      <arglist>(std::map&lt; Name, double &gt; *joint_torque)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solveInverseDynamics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ab1e7cdf7091e99b8570695b2ab2d5843</anchor>
      <arglist>(std::map&lt; Name, double &gt; *joint_torque)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a9a292c755bee7f97f2d8a17b73ce3401</anchor>
      <arglist>(Name tool_name, Pose goal_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>stopMoving</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a16b4bdb27f30fcd5d214679f52b0d60a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RobotisManipulator</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>aa1a5253e03e807911de38637e7d409a6</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>JointWaypoint</type>
      <name>getTrajectoryJointValue</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>ab8992ad25f80823d213927fc6a9ff74d</anchor>
      <arglist>(double tick_time, int option=0)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>startMoving</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a471cb5d00c34dfe28fd260daaf4fd7a7</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Dynamics *</type>
      <name>dynamics_</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a1922d79b031e42019ff0c2104efde02a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a2e038ad6e092d681cd5e55cf728eb320</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; Name, JointActuator * &gt;</type>
      <name>joint_actuator_</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a54dfb941bb2682d321daea25a373ab1c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>joint_actuator_added_stete_</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a16f3541bbc26c334103b5b55766fe85d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Kinematics *</type>
      <name>kinematics_</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a9a37fd068504dfe5fab346884790fc8f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
      <anchor>a2a7b5bfe9073631323758f89f018ae57</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Manipulator</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; Name, ToolActuator * &gt;</type>
      <name>tool_actuator_</name>
      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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      <type>Trajectory</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classrobotis__manipulator_1_1RobotisManipulator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getMinimumJerkCoefficient</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>ace7f92380218ee5b15f56ec500ae5337</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>TaskWaypoint</type>
      <name>getTaskWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>a10718a16244458b0240ec357acfa09bd</anchor>
      <arglist>(double tick)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>ae9b419551df713f9fe1795da6b80bf83</anchor>
      <arglist>(double move_time, TaskWaypoint start, TaskWaypoint goal)</arglist>
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    <member kind="function">
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      <name>TaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>ab1cef75c638b80f579f960fad91bf3ba</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>a9746e3b18cce92661b766aca6b6d3add</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>uint8_t</type>
      <name>coefficient_size_</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>a3e18bd8e5e8b327d15afd8831ba099f5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>minimum_jerk_coefficient_</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>a19c6e0525c29db0b3bad7950baa74e42</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MinimumJerk</type>
      <name>minimum_jerk_trajectory_generator_</name>
      <anchorfile>classrobotis__manipulator_1_1TaskTrajectory.html</anchorfile>
      <anchor>aa616787d639765003bd054cc7c59f6d3</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>robotis_manipulator::ToolActuator</name>
    <filename>classrobotis__manipulator_1_1ToolActuator.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>disable</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>afa622c462cd4221645f7004b486359db</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>enable</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a8515f35a6b77350af9476e6d0a7c41f3</anchor>
      <arglist>()=0</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>findId</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a6b64dd76b7d473f3a634762422e5951f</anchor>
      <arglist>(uint8_t actuator_id)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getEnabledState</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a2a8dc83e93e4c0b965423a2058c9c590</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual uint8_t</type>
      <name>getId</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>afd249246d350782587c2e115b0a46e6f</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a81d51f1ce5e2c7afc3244ce106d2acd9</anchor>
      <arglist>(uint8_t actuator_id, const void *arg)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ActuatorValue</type>
      <name>receiveToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a5b3d663619610cf739b16efb1b3a580f</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>sendToolActuatorValue</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a5fdb394c44142a588cfefcbf22de11ec</anchor>
      <arglist>(ActuatorValue value)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setMode</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
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      <arglist>(const void *arg)=0</arglist>
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    <member kind="function">
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      <name>ToolActuator</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a393a1f2eb9247c20b56f679da40cc390</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ToolActuator</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>a0c1149bde6ce9ff31b7291a8d97c46cd</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>bool</type>
      <name>enabled_state_</name>
      <anchorfile>classrobotis__manipulator_1_1ToolActuator.html</anchorfile>
      <anchor>ae9bdfbba232f772298d8c3342c125b4a</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <filename>classrobotis__manipulator_1_1Trajectory.html</filename>
    <member kind="function">
      <type>void</type>
      <name>addCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a4d7f38c0e931889ba513dfa1a9fae3df</anchor>
      <arglist>(Name trajectory_name, CustomJointTrajectory *custom_trajectory)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a6e35e2a6ce37644e479e188c842f4532</anchor>
      <arglist>(Name trajectory_name, CustomTaskTrajectory *custom_trajectory)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>checkTrajectoryType</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>ad611b4f48e92be9c112c36cc2569bb75</anchor>
      <arglist>(TrajectoryType trajectory_type)</arglist>
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    <member kind="function">
      <type>CustomJointTrajectory *</type>
      <name>getCustomJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>ac45c691a9fee06027d17ea6e55d688ea</anchor>
      <arglist>(Name name)</arglist>
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    <member kind="function">
      <type>CustomTaskTrajectory *</type>
      <name>getCustomTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>afbfddec6e3015179c30b76d5142f54c3</anchor>
      <arglist>(Name name)</arglist>
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    <member kind="function">
      <type>JointTrajectory</type>
      <name>getJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a378a65986082eb2bc125928b7e56889d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Manipulator *</type>
      <name>getManipulator</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>ae5276de42edf154de107c1f194f6b322</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getMoveTime</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a998cdbaa9895e9a3ea6c7ec49f7b47d9</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Name</type>
      <name>getPresentControlToolName</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a49ba36b57306d92db3214fdf21db75e5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Name</type>
      <name>getPresentCustomTrajectoryName</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>acc33565a63cb8d328170bb8486d910b1</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>JointWaypoint</type>
      <name>getPresentJointWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a840fce5e4b16eb4ef957ff0aba2bf146</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>TaskWaypoint</type>
      <name>getPresentTaskWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a74a9251b2c725b3e37c679cbd3102925</anchor>
      <arglist>(Name tool_name)</arglist>
    </member>
    <member kind="function">
      <type>TaskTrajectory</type>
      <name>getTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a1e4ee32908b244fea91919f1013e2e6a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getTickTime</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>aa88cc828dc324d2441cfbafaff15dbb1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getToolGoalPosition</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a59589016316f09e9f5894c6e47d0e7af</anchor>
      <arglist>(Name tool_name)</arglist>
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    <member kind="function">
      <type>JointValue</type>
      <name>getToolGoalValue</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>af731f5f58a734655772c56467488262f</anchor>
      <arglist>(Name tool_name)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>initTrajectoryWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>ae20193ba6005cc18a55d0a4e1a325c84</anchor>
      <arglist>(Manipulator actual_manipulator, Kinematics *kinematics=nullptr)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>ab1770f8cbea46b9e58eb63deadde8ae7</anchor>
      <arglist>(Name trajectory_name, JointWaypoint start_way_point, const void *arg)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeCustomTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>aff50f61da9d6d766bdbe18d902aad180</anchor>
      <arglist>(Name trajectory_name, TaskWaypoint start_way_point, const void *arg)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>makeJointTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a7f61c9d33e8eeac06e032a80c927e2be</anchor>
      <arglist>(JointWaypoint start_way_point, JointWaypoint goal_way_point)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a4989fba5c73a303ee3fe063622976f99</anchor>
      <arglist>(TaskWaypoint start_way_point, TaskWaypoint goal_way_point)</arglist>
    </member>
    <member kind="function">
      <type>JointWaypoint</type>
      <name>removeWaypointDynamicData</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a3e05d461f6bdf874a58a6a35ff6ce351</anchor>
      <arglist>(JointWaypoint value)</arglist>
    </member>
    <member kind="function">
      <type>TaskWaypoint</type>
      <name>removeWaypointDynamicData</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a1740e6f16d5428083a7a3338bca70702</anchor>
      <arglist>(TaskWaypoint value)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCustomTrajectoryOption</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a9376519929c9ac310590f92784950ed3</anchor>
      <arglist>(Name trajectory_name, const void *arg)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setManipulator</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a19b2f886aff8fcb4bef369f2a8e0fac0</anchor>
      <arglist>(Manipulator manipulator)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMoveTime</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a0c400f1108635495fe7fc6cdae8bc8bb</anchor>
      <arglist>(double move_time)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setPresentControlToolName</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a6ffae7998c29d372196b83ed63eb0540</anchor>
      <arglist>(Name present_control_tool_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPresentJointWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a58b1d4fb60f7e3ed9150d312766debc1</anchor>
      <arglist>(JointWaypoint joint_value_vector)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPresentTaskWaypoint</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a043c122ac281c223eb73303255981d17</anchor>
      <arglist>(Name tool_name, TaskWaypoint tool_position_value_vector)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPresentTime</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a187822acb94ca96938ebc06019ffc73e</anchor>
      <arglist>(double present_time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStartTime</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>a1c964bc02b44d87e1f7d02c446ab0f5d</anchor>
      <arglist>(double start_time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStartTimeToPresentTime</name>
      <anchorfile>classrobotis__manipulator_1_1Trajectory.html</anchorfile>
      <anchor>ad11707f44e3b0cefdb5f60b6c4f3ab77</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setToolGoalPosition</name>
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