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      <anchor>ad7440f9b1ec3442ecdc8dc7f66f2fda0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; const IKFastInvKin &gt;</type>
      <name>ConstUPtr</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>aee3cab97112bbdf22735c09f1c346d57</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; IKFastInvKin &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>abfc0acfc8e204b9d88adbdbef589be26</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; IKFastInvKin &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>afe3dba67cab5f07d3d9d345ac0616db8</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>IKSolutions</type>
      <name>calcInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>a8d4ceb3a73931703fa00ef9d1433780d</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const override</arglist>
    </member>
    <member kind="function">
      <type>InverseKinematics::UPtr</type>
      <name>clone</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>af4f458ba2879d3f962ce7228719acfaf</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>ae246bbbdcc1168e763867b63654d627b</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>acaefc3d712a3419b600ceb183c11cec6</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getSolverName</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>afc0f8b30276ba25b8730a9e872dbbe4b</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getTipLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>af76a91c0909149cd65fd8fe7c972d10b</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getWorkingFrame</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>a07dc81f4ec2ef1a89a977affb5320276</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type></type>
      <name>IKFastInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>a9716b8691e656dbb1334264464bbf92a</anchor>
      <arglist>(const IKFastInvKin &amp;other)</arglist>
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    <member kind="function">
      <type></type>
      <name>IKFastInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>aa52184e36d0c886569309efacd47c98d</anchor>
      <arglist>(IKFastInvKin &amp;&amp;)=default</arglist>
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    <member kind="function">
      <type></type>
      <name>IKFastInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>a4084c9f127bed21a8e4ec12ed50a8380</anchor>
      <arglist>(std::string base_link_name, std::string tip_link_name, std::vector&lt; std::string &gt; joint_names, std::string solver_name=IKFAST_INV_KIN_CHAIN_SOLVER_NAME, std::vector&lt; std::vector&lt; double &gt;&gt; free_joint_states={})</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Index</type>
      <name>numJoints</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>a5fbb8c88b2945c9bf59159327de099d0</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>IKFastInvKin &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>adaa51b594fcfb307ba4abbf7f54ba297</anchor>
      <arglist>(const IKFastInvKin &amp;other)</arglist>
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    <member kind="function">
      <type>IKFastInvKin &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
      <anchor>a36c70141163df3b372933c121894b1b0</anchor>
      <arglist>(IKFastInvKin &amp;&amp;)=default</arglist>
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    <member kind="function">
      <type></type>
      <name>~IKFastInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
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      <arglist>() override=default</arglist>
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    <member kind="function" static="yes">
      <type>static std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>generateAllFreeJointStateCombinations</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
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      <arglist>(const std::vector&lt; std::vector&lt; double &gt;&gt; &amp;free_joint_samples)</arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>base_link_name_</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>free_joint_states_</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
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      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
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      <anchorfile>classtesseract__kinematics_1_1IKFastInvKin.html</anchorfile>
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      <arglist></arglist>
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    <name>tesseract_kinematics::IKFastInvKinFactory</name>
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    <base>tesseract_kinematics::InvKinFactory</base>
    <member kind="function">
      <type>InverseKinematics::UPtr</type>
      <name>create</name>
      <anchorfile>classtesseract__kinematics_1_1IKFastInvKinFactory.html</anchorfile>
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      <arglist>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;, const KinematicsPluginFactory &amp;, const YAML::Node &amp;config) const override</arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; const InverseKinematics &gt;</type>
      <name>ConstPtr</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; const InverseKinematics &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; InverseKinematics &gt;</type>
      <name>Ptr</name>
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      <anchor>a189ebd423f38f83720d58a922d049688</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; InverseKinematics &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual IKSolutions</type>
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      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual InverseKinematics::UPtr</type>
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      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <name>getSolverName</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getTipLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
      <anchor>a034a497745b4f8a48a0f1b1e0afe668b</anchor>
      <arglist>() const =0</arglist>
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      <type>virtual std::string</type>
      <name>getWorkingFrame</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <name>InverseKinematics</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>()=default</arglist>
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      <name>InverseKinematics</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>(const InverseKinematics &amp;)=default</arglist>
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      <name>InverseKinematics</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>(InverseKinematics &amp;&amp;)=default</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Eigen::Index</type>
      <name>numJoints</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
      <anchor>aa34d7e741ed987b4111f7bda6ff93f7b</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function">
      <type>InverseKinematics &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>(const InverseKinematics &amp;)=default</arglist>
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    <member kind="function">
      <type>InverseKinematics &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>(InverseKinematics &amp;&amp;)=default</arglist>
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      <name>~InverseKinematics</name>
      <anchorfile>classtesseract__kinematics_1_1InverseKinematics.html</anchorfile>
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      <arglist>()</arglist>
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    <filename>classtesseract__kinematics_1_1InvKinFactory.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const InvKinFactory &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__kinematics_1_1InvKinFactory.html</anchorfile>
      <anchor>a62e7dd5c872023d1e02094e9dd5ad77b</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; InvKinFactory &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__kinematics_1_1InvKinFactory.html</anchorfile>
      <anchor>a84b64f875adaf807f1ab26868bb4ccdd</anchor>
      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual std::unique_ptr&lt; InverseKinematics &gt;</type>
      <name>create</name>
      <anchorfile>classtesseract__kinematics_1_1InvKinFactory.html</anchorfile>
      <anchor>a537ed5db6e1671b6d8d432459417f814</anchor>
      <arglist>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, const KinematicsPluginFactory &amp;plugin_factory, const YAML::Node &amp;config) const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~InvKinFactory</name>
      <anchorfile>classtesseract__kinematics_1_1InvKinFactory.html</anchorfile>
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      <arglist>()=default</arglist>
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      <anchorfile>classtesseract__kinematics_1_1InvKinFactory.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtesseract__kinematics_1_1InvKinFactory.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; const JointGroup &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; const JointGroup &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; JointGroup &gt;</type>
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      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; JointGroup &gt;</type>
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      <arglist></arglist>
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    <member kind="function">
      <type>tesseract_common::TransformMap</type>
      <name>calcFwdKin</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
      <anchor>a3579bdbb9feec4ab90101c6c5a729fa2</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_angles) const</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
      <anchor>a30fe6a74e7e15b735ca9f3c649c34ae7</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_angles, const std::string &amp;base_link_name, const std::string &amp;link_name) const</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
      <anchor>a1f550f7e3c1eba5d5464551f1ffce1c5</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_angles, const std::string &amp;base_link_name, const std::string &amp;link_name, const Eigen::Vector3d &amp;link_point) const</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_angles, const std::string &amp;link_name) const</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobian</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
      <anchor>a9eadaf0682bd1da919e41e1fd6dbd3bc</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_angles, const std::string &amp;link_name, const Eigen::Vector3d &amp;link_point) const</arglist>
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    <member kind="function">
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      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;vec) const</arglist>
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    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getActiveLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1JointGroup.html</anchorfile>
      <anchor>a8f106ff4b84a4cd89de5a0db07bef4be</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; const KDLInvKinChainLMA &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; KDLInvKinChainLMA &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; KDLInvKinChainLMA &gt;</type>
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      <arglist></arglist>
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    <member kind="function">
      <type>IKSolutions</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
      <anchor>a6e87c6523d20e9ba0836fde696e59053</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const override final</arglist>
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    <member kind="function">
      <type>InverseKinematics::UPtr</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
      <anchor>a6dd30079178178dcc6778e7f8dc410ad</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getSolverName</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
      <anchor>a09cd8e9392bbd1d2695fa3c14bbc983c</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getTipLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
      <anchor>a07380bf85cd1c2d2285d029893fffa73</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getWorkingFrame</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
      <anchor>a2b8ee1e1daafb4b618528949f03cae3c</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type></type>
      <name>KDLInvKinChainLMA</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>(const KDLInvKinChainLMA &amp;other)</arglist>
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    <member kind="function">
      <type></type>
      <name>KDLInvKinChainLMA</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::string &amp;base_link, const std::string &amp;tip_link, std::string solver_name=KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME)</arglist>
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    <member kind="function">
      <type></type>
      <name>KDLInvKinChainLMA</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;chains, std::string solver_name=KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME)</arglist>
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    <member kind="function">
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      <name>KDLInvKinChainLMA</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>(KDLInvKinChainLMA &amp;&amp;)=delete</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>KDLInvKinChainLMA &amp;</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist>(const KDLInvKinChainLMA &amp;other)</arglist>
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      <type>KDLInvKinChainLMA &amp;</type>
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      <arglist>(KDLInvKinChainLMA &amp;&amp;)=delete</arglist>
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      <arglist>() override=default</arglist>
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      <arglist>(const Eigen::Isometry3d &amp;pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed, int segment_num=-1) const</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainLMA.html</anchorfile>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; InverseKinematics &gt;</type>
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      <arglist>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, const KinematicsPluginFactory &amp;plugin_factory, const YAML::Node &amp;config) const override final</arglist>
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      <type>std::shared_ptr&lt; const KDLInvKinChainNR &gt;</type>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; const KDLInvKinChainNR &gt;</type>
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      <type>std::shared_ptr&lt; KDLInvKinChainNR &gt;</type>
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      <type>std::unique_ptr&lt; KDLInvKinChainNR &gt;</type>
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      <arglist></arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a2009a88e1c122ed53a5410f15a6210ee</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const override final</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>() const override final</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>() const override final</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>() const override final</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>() const override final</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a9833c17fdca9912462af5103f347259b</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>aaaffddb0f3ae56a6c589f008b02185a0</anchor>
      <arglist>() const override final</arglist>
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      <name>KDLInvKinChainNR</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>(const KDLInvKinChainNR &amp;other)</arglist>
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      <name>KDLInvKinChainNR</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a95b024f86b8e9424f047949e088b96b1</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::string &amp;base_link, const std::string &amp;tip_link, std::string solver_name=KDL_INV_KIN_CHAIN_NR_SOLVER_NAME)</arglist>
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    <member kind="function">
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      <name>KDLInvKinChainNR</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;chains, std::string solver_name=KDL_INV_KIN_CHAIN_NR_SOLVER_NAME)</arglist>
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    <member kind="function">
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      <name>KDLInvKinChainNR</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>(KDLInvKinChainNR &amp;&amp;)=delete</arglist>
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      <name>numJoints</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a4e44bdf567aa20605f855f4aeede1301</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>KDLInvKinChainNR &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>(const KDLInvKinChainNR &amp;other)</arglist>
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      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>(KDLInvKinChainNR &amp;&amp;)=delete</arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist>() override=default</arglist>
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      <name>calcInvKinHelper</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a77bb0565a4742dcdffb1ec1f46308e9e</anchor>
      <arglist>(const Eigen::Isometry3d &amp;pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed, int segment_num=-1) const</arglist>
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      <type>std::unique_ptr&lt; KDL::ChainFkSolverPos_recursive &gt;</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a27ba62f2d113ed59f9bccc21867e1b94</anchor>
      <arglist></arglist>
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      <type>std::unique_ptr&lt; KDL::ChainIkSolverPos_NR &gt;</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
      <anchor>a2139912bac81dffe3e294b5ff0e0a94a</anchor>
      <arglist></arglist>
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      <type>std::unique_ptr&lt; KDL::ChainIkSolverVel_pinv &gt;</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist></arglist>
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      <type>KDLChainData</type>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR.html</anchorfile>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; const KDLInvKinChainNR_JL &gt;</type>
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      <type>std::unique_ptr&lt; const KDLInvKinChainNR_JL &gt;</type>
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      <type>std::shared_ptr&lt; KDLInvKinChainNR_JL &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; KDLInvKinChainNR_JL &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
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      <name>calcInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>a89c272d0e816cd126e599214e5724046</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const override final</arglist>
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    <member kind="function">
      <type>InverseKinematics::UPtr</type>
      <name>clone</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>ab2c971a91ac9f40e7bf96d13870d0801</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
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      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>a657d5321798ede663392213d32783175</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
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      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>af0dea478374e40160fda1c8abb2e4b6e</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
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      <name>getSolverName</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>aef31be66a8c47831af3f29240d1ad3c2</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getTipLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>a750237f79dcfa522573e54ba6d4cf873</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>getWorkingFrame</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>a6d1e1ca2ec27c6d06c700874b682bd8d</anchor>
      <arglist>() const override final</arglist>
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    <member kind="function">
      <type></type>
      <name>KDLInvKinChainNR_JL</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
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      <arglist>(const KDLInvKinChainNR_JL &amp;other)</arglist>
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    <member kind="function">
      <type></type>
      <name>KDLInvKinChainNR_JL</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
      <anchor>a4972952c1ca43e8262cc5dc1b7d3fc19</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::string &amp;base_link, const std::string &amp;tip_link, std::string solver_name=KDL_INV_KIN_CHAIN_NR_JL_SOLVER_NAME)</arglist>
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    <member kind="function">
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      <name>KDLInvKinChainNR_JL</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
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      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::vector&lt; std::pair&lt; std::string, std::string &gt; &gt; &amp;chains, std::string solver_name=KDL_INV_KIN_CHAIN_NR_JL_SOLVER_NAME)</arglist>
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    <member kind="function">
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      <name>KDLInvKinChainNR_JL</name>
      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
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      <arglist>(KDLInvKinChainNR_JL &amp;&amp;)=delete</arglist>
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    <member kind="function">
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
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      <arglist>() const override final</arglist>
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    <member kind="function">
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      <anchorfile>classtesseract__kinematics_1_1KDLInvKinChainNR__JL.html</anchorfile>
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      <arglist>() override=default</arglist>
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      <arglist>(const Eigen::Isometry3d &amp;pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed, int segment_num=-1) const</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>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, const KinematicsPluginFactory &amp;plugin_factory, const YAML::Node &amp;config) const override final</arglist>
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      <arglist>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, const KinematicsPluginFactory &amp;plugin_factory, const YAML::Node &amp;config) const override final</arglist>
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      <arglist>(const KinGroupIKInputs &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
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      <arglist>(const KinematicGroup &amp;other)</arglist>
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      <arglist>(KinematicGroup &amp;&amp;)=default</arglist>
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      <arglist>(std::string name, std::vector&lt; std::string &gt; joint_names, std::unique_ptr&lt; InverseKinematics &gt; inv_kin, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state)</arglist>
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      <arglist>(const KinematicGroup &amp;other)</arglist>
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      <arglist>(KinematicGroup &amp;&amp;)=default</arglist>
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      <arglist>() override</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>aad12b1580c86258460be289e7029b120</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getSolverName</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>afcd4177716bff899af174678cac53ce9</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getTipLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>adf15abcbef5a41421a6f41f41faed974</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getWorkingFrame</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>af8e2076c30d51c58d0c636ba5762aa38</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Index</type>
      <name>numJoints</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a36d9829756240f69ee0f81756dc9a940</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>REPInvKin &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>acce8cbfdfc4806d3858eb62532e0889e</anchor>
      <arglist>(const REPInvKin &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>REPInvKin &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a8c4848faaa8f664db90374f93a624b7a</anchor>
      <arglist>(REPInvKin &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>REPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>afd5411ca9ec8b8dca8fb7e48e2df2598</anchor>
      <arglist>(const REPInvKin &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>REPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a99b7158318d21ae258504463b5bb2700</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, std::unique_ptr&lt; ForwardKinematics &gt; positioner, const Eigen::MatrixX2d &amp;positioner_sample_range, const Eigen::VectorXd &amp;positioner_sample_resolution, std::string solver_name=DEFAULT_REP_INV_KIN_SOLVER_NAME)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>REPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a22f6f0c25c4478e41602cec450f73498</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, std::unique_ptr&lt; ForwardKinematics &gt; positioner, const Eigen::VectorXd &amp;positioner_sample_resolution, std::string solver_name=DEFAULT_REP_INV_KIN_SOLVER_NAME)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>REPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a2de617bdab60c29fb2cf66b8c71c6efa</anchor>
      <arglist>(REPInvKin &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~REPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>afd44c1a30009795bab23ee5f7ac7a12e</anchor>
      <arglist>() override=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>IKSolutions</type>
      <name>calcInvKinHelper</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a32fbc47ca73ce33629236af0dd073822</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ikAt</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>afdd1e6e9184443dcb3b656834e192bd3</anchor>
      <arglist>(IKSolutions &amp;solutions, const tesseract_common::TransformMap &amp;tip_link_poses, Eigen::VectorXd &amp;positioner_pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>init</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a0e1a0d85381d0815b8d16ea2e2ce7c03</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, std::unique_ptr&lt; ForwardKinematics &gt; positioner, const Eigen::MatrixX2d &amp;poitioner_sample_range, const Eigen::VectorXd &amp;positioner_sample_resolution, std::string solver_name=DEFAULT_REP_INV_KIN_SOLVER_NAME)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>nested_ik</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a158046796536261912856f69e6ca3b82</anchor>
      <arglist>(IKSolutions &amp;solutions, int loop_level, const std::vector&lt; Eigen::VectorXd &gt; &amp;dof_range, const tesseract_common::TransformMap &amp;tip_link_poses, Eigen::VectorXd &amp;positioner_pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Index</type>
      <name>dof_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a29f436d0149bc370b78bf5778f517ea4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>dof_range_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a2548ac021ca9b273ad5e61063f5dbde9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>ab04f148d177607ad3a4c0b694ce65cd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
      <name>manip_base_to_positioner_base_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a92c61bce646380938ce7563291db34fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>InverseKinematics::UPtr</type>
      <name>manip_inv_kin_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a2ae68fbac10e36817196f6b04bc61182</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>manip_reach_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a0f4b6427de29b0dd84fd4863ddcc15cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>manip_tip_link_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a02fab768aada8753aeaa032ba3209b12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; ForwardKinematics &gt;</type>
      <name>positioner_fwd_kin_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a9e0a15fc7cd91b3855b80964f6d6d0ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>solver_name_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>ab3d1780487fd0a77d4d31be5ab028ebb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>working_frame_</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKin.html</anchorfile>
      <anchor>a1aea34f346ee84952cae21b820e3dbb5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_kinematics::REPInvKinFactory</name>
    <filename>classtesseract__kinematics_1_1REPInvKinFactory.html</filename>
    <base>tesseract_kinematics::InvKinFactory</base>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; InverseKinematics &gt;</type>
      <name>create</name>
      <anchorfile>classtesseract__kinematics_1_1REPInvKinFactory.html</anchorfile>
      <anchor>a98e25351a671d84b450284a85c9e3464</anchor>
      <arglist>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, const KinematicsPluginFactory &amp;plugin_factory, const YAML::Node &amp;config) const override final</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_kinematics::ROPInvKin</name>
    <filename>classtesseract__kinematics_1_1ROPInvKin.html</filename>
    <base>tesseract_kinematics::InverseKinematics</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const ROPInvKin &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a92abe7aeb5c64e3a8dea16b73a9f0572</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; const ROPInvKin &gt;</type>
      <name>ConstUPtr</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a162aa5aa19e8b6687f8f5b661c9e1a81</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; ROPInvKin &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>ab52d9e395639baee709f9352da605532</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; ROPInvKin &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>ab621499b81d1154fc51db91dc402b4ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>IKSolutions</type>
      <name>calcInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>ac1f9975af6ff225863180a3dbe66ac75</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const override final</arglist>
    </member>
    <member kind="function">
      <type>InverseKinematics::UPtr</type>
      <name>clone</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a130b798d9b90aa2aa8a9af6972f39a39</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>ad370533c7956ca16ab3be6aaaea488c4</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>ae1cb9c04333db6d00a519748e3699b4c</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getSolverName</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>abd5b65e88f69cfac341e216a86f6c51d</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getTipLinkNames</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>abc036f05c23a590a9ed64ac9b348712d</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getWorkingFrame</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a3ef55686cd9ba1ce554763f5c461eaa4</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Index</type>
      <name>numJoints</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a2784204bdb837a72cfcb187346abfd20</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>ROPInvKin &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a65000a1e42b77ae7fd2ee7e610cf9194</anchor>
      <arglist>(const ROPInvKin &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>ROPInvKin &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a071504d0a595e100c7e0b2d8548ef899</anchor>
      <arglist>(ROPInvKin &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ROPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>aa591cbe0695b799e6653732b12de150c</anchor>
      <arglist>(const ROPInvKin &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ROPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>acb9ca6969e0f8e57a0263d1eb358973d</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, std::unique_ptr&lt; ForwardKinematics &gt; positioner, const Eigen::MatrixX2d &amp;positioner_sample_range, const Eigen::VectorXd &amp;positioner_sample_resolution, std::string solver_name=DEFAULT_ROP_INV_KIN_SOLVER_NAME)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ROPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a97586204a66eaa3773c1f49aec3650cb</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, std::unique_ptr&lt; ForwardKinematics &gt; positioner, const Eigen::VectorXd &amp;positioner_sample_resolution, std::string solver_name=DEFAULT_ROP_INV_KIN_SOLVER_NAME)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ROPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a1150723220312765ebf29f2a09ebe680</anchor>
      <arglist>(ROPInvKin &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ROPInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a79bbc7a6c2edc7282cc67208456c456e</anchor>
      <arglist>() override=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>IKSolutions</type>
      <name>calcInvKinHelper</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a671ae9446865b0c31c01caf031f675f5</anchor>
      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ikAt</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a9e0d45ca6aede08d03a74982edf6638a</anchor>
      <arglist>(IKSolutions &amp;solutions, const tesseract_common::TransformMap &amp;tip_link_poses, Eigen::VectorXd &amp;positioner_pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>init</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a5da2a2b6615eca96ecc2d6acbda7a49a</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, std::unique_ptr&lt; ForwardKinematics &gt; positioner, const Eigen::MatrixX2d &amp;poitioner_sample_range, const Eigen::VectorXd &amp;positioner_sample_resolution, std::string solver_name=DEFAULT_ROP_INV_KIN_SOLVER_NAME)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>nested_ik</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a83a6bd1aa064ccefb943a6b83643fac9</anchor>
      <arglist>(IKSolutions &amp;solutions, int loop_level, const std::vector&lt; Eigen::VectorXd &gt; &amp;dof_range, const tesseract_common::TransformMap &amp;tip_link_poses, Eigen::VectorXd &amp;positioner_pose, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Index</type>
      <name>dof_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a78111058c848be179a42c575dde827b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>dof_range_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>af78571864458426a9e695d00d8b45c0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a771186ed5e9cc472ff3f5edac3f77075</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>InverseKinematics::UPtr</type>
      <name>manip_inv_kin_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>af1936a64c6a53af3df756d0aff8e3178</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>manip_reach_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a6e42fa0eea0f60541e9f7071bde4e0f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>manip_tip_link_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>abc14d666874a06e0c23ae27723595d53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; ForwardKinematics &gt;</type>
      <name>positioner_fwd_kin_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>ac643d824c8a0861841c13f1eef608c38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>positioner_tip_link_</name>
      <anchorfile>classtesseract__kinematics_1_1ROPInvKin.html</anchorfile>
      <anchor>a4b7ff93419c1f8273d98d8fc92147a8c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
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    <member kind="function" protection="private">
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    <member kind="typedef">
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    <member kind="typedef">
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    <member kind="typedef">
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    <member kind="typedef">
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    <member kind="function">
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      <arglist>(const tesseract_common::TransformMap &amp;tip_link_poses, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;seed) const override final</arglist>
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    <member kind="function">
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      <arglist>() const override final</arglist>
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      <arglist>() const override final</arglist>
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      <arglist>() const override final</arglist>
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      <name>numJoints</name>
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      <arglist>() const override final</arglist>
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      <arglist>(const URInvKin &amp;other)</arglist>
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      <arglist>(URInvKin &amp;&amp;)=default</arglist>
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      <name>URInvKin</name>
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      <arglist>(const URInvKin &amp;other)</arglist>
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    <member kind="function">
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      <name>URInvKin</name>
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      <arglist>(URInvKin &amp;&amp;)=default</arglist>
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      <name>URInvKin</name>
      <anchorfile>classtesseract__kinematics_1_1URInvKin.html</anchorfile>
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      <arglist>(URParameters params, std::string base_link_name, std::string tip_link_name, std::vector&lt; std::string &gt; joint_names, std::string solver_name=UR_INV_KIN_CHAIN_SOLVER_NAME)</arglist>
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      <arglist>() override=default</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>(const std::string &amp;solver_name, const tesseract_scene_graph::SceneGraph &amp;scene_graph, const tesseract_scene_graph::SceneState &amp;scene_state, const KinematicsPluginFactory &amp;plugin_factory, const YAML::Node &amp;config) const override final</arglist>
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      <name>URParameters</name>
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      <arglist>()=default</arglist>
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      <arglist>(double d1, double a2, double a3, double d4, double d5, double d6)</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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      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchor>ad071f516596c9a983b661f60e4511ac3</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;jacobian)</arglist>
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      <arglist>(const KinematicGroup &amp;manip, double tol=1e-3)</arglist>
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      <arglist>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;A, Eigen::Ref&lt; Eigen::MatrixXd &gt; P, double eps=0.011, double lambda=0.01)</arglist>
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      <arglist>(const Eigen::Isometry3d &amp;transform, KDL::Frame &amp;frame)</arglist>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;vec, KDL::JntArray &amp;joints)</arglist>
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      <arglist>(const Eigen::Ref&lt; const VectorX&lt; FloatType &gt;&gt; &amp;sol, const Eigen::MatrixX2d &amp;limits, const std::vector&lt; Eigen::Index &gt; &amp;redundancy_capable_joints)</arglist>
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      <arglist>(std::vector&lt; VectorX&lt; FloatType &gt;&gt; &amp;redundant_sols, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;sol, const Eigen::MatrixX2d &amp;limits, std::vector&lt; Eigen::Index &gt;::const_iterator current_index, std::vector&lt; Eigen::Index &gt;::const_iterator end_index)</arglist>
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      <arglist>(Eigen::Ref&lt; VectorX&lt; FloatType &gt;&gt; qs, const std::vector&lt; Eigen::Index &gt; &amp;redundancy_capable_joints, const Eigen::Ref&lt; const Eigen::Matrix&lt; FloatType, Eigen::Dynamic, 2 &gt;&gt; &amp;position_limits)</arglist>
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      <arglist>(Eigen::Ref&lt; VectorX&lt; FloatType &gt;&gt; qs, const std::vector&lt; Eigen::Index &gt; &amp;redundancy_capable_joints)</arglist>
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      <anchorfile>namespacetesseract__kinematics.html</anchorfile>
      <anchor>ad68b09c7746fe12cb742749614122636</anchor>
      <arglist>(const Eigen::Isometry3d &amp;T, const URParameters &amp;params, double *q_sols, double q6_des)</arglist>
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      <anchorfile>namespacetesseract__kinematics.html</anchorfile>
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      <arglist>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;jacobian, double threshold=0.01)</arglist>
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      <arglist>(const std::array&lt; FloatType, 6 &gt; &amp;qs)</arglist>
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      <arglist>(const KDL::Frame &amp;frame, Eigen::Isometry3d &amp;transform)</arglist>
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      <anchor>ab343312c8807fe55149efc686a18496d</anchor>
      <arglist>(const KDL::Jacobian &amp;jacobian, const std::vector&lt; int &gt; &amp;q_nrs, Eigen::Ref&lt; Eigen::MatrixXd &gt; matrix)</arglist>
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      <arglist>(const KDL::Jacobian &amp;jacobian, Eigen::Ref&lt; Eigen::MatrixXd &gt; matrix)</arglist>
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      <anchorfile>namespacetesseract__kinematics.html</anchorfile>
      <anchor>acc243b4eaa4f3dc348e7d41b10608a43</anchor>
      <arglist>(const KDL::JntArray &amp;joints, Eigen::Ref&lt; Eigen::VectorXd &gt; vec)</arglist>
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    <member kind="function">
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