<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>fwd.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/</path>
    <filename>fwd_8h.html</filename>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>kdl_state_solver.cpp</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/src/</path>
    <filename>kdl__state__solver_8cpp.html</filename>
    <includes id="kdl__state__solver_8h" name="kdl_state_solver.h" local="no" imported="no">tesseract_state_solver/kdl/kdl_state_solver.h</includes>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>kdl_state_solver.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/kdl/</path>
    <filename>kdl__state__solver_8h.html</filename>
    <includes id="state__solver_8h" name="state_solver.h" local="no" imported="no">tesseract_state_solver/state_solver.h</includes>
    <class kind="class">tesseract_scene_graph::KDLStateSolver</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>mutable_state_solver.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/</path>
    <filename>mutable__state__solver_8h.html</filename>
    <includes id="state__solver_8h" name="state_solver.h" local="no" imported="no">tesseract_state_solver/state_solver.h</includes>
    <class kind="class">tesseract_scene_graph::MutableStateSolver</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>ofkt_node.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/ofkt/</path>
    <filename>ofkt__node_8h.html</filename>
    <class kind="class">tesseract_scene_graph::OFKTNode</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>ofkt_nodes.cpp</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/src/</path>
    <filename>ofkt__nodes_8cpp.html</filename>
    <includes id="ofkt__nodes_8h" name="ofkt_nodes.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_nodes.h</includes>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>ofkt_nodes.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/ofkt/</path>
    <filename>ofkt__nodes_8h.html</filename>
    <includes id="ofkt__node_8h" name="ofkt_node.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_node.h</includes>
    <class kind="class">tesseract_scene_graph::OFKTBaseNode</class>
    <class kind="class">tesseract_scene_graph::OFKTContinuousNode</class>
    <class kind="class">tesseract_scene_graph::OFKTFixedNode</class>
    <class kind="class">tesseract_scene_graph::OFKTPrismaticNode</class>
    <class kind="class">tesseract_scene_graph::OFKTRevoluteNode</class>
    <class kind="class">tesseract_scene_graph::OFKTRootNode</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>ofkt_state_solver.cpp</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/src/</path>
    <filename>ofkt__state__solver_8cpp.html</filename>
    <includes id="ofkt__state__solver_8h" name="ofkt_state_solver.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_state_solver.h</includes>
    <includes id="ofkt__node_8h" name="ofkt_node.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_node.h</includes>
    <includes id="ofkt__nodes_8h" name="ofkt_nodes.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_nodes.h</includes>
    <class kind="struct">tesseract_scene_graph::ofkt_builder</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>ofkt_state_solver.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/ofkt/</path>
    <filename>ofkt__state__solver_8h.html</filename>
    <includes id="mutable__state__solver_8h" name="mutable_state_solver.h" local="no" imported="no">tesseract_state_solver/mutable_state_solver.h</includes>
    <includes id="ofkt__node_8h" name="ofkt_node.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_node.h</includes>
    <class kind="class">tesseract_scene_graph::OFKTStateSolver</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>state_solver.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/include/tesseract_state_solver/</path>
    <filename>state__solver_8h.html</filename>
    <class kind="class">tesseract_scene_graph::StateSolver</class>
    <namespace>tesseract_scene_graph</namespace>
  </compound>
  <compound kind="file">
    <name>state_solver_test_suite.h</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/test/</path>
    <filename>state__solver__test__suite_8h.html</filename>
    <includes id="kdl__state__solver_8h" name="kdl_state_solver.h" local="no" imported="no">tesseract_state_solver/kdl/kdl_state_solver.h</includes>
    <namespace>tesseract_scene_graph</namespace>
    <namespace>tesseract_scene_graph::test_suite</namespace>
    <member kind="function">
      <type>SceneGraph::UPtr</type>
      <name>getSceneGraph</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a3a503bedb111fb56460cc53f1f18e9a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SceneGraph::UPtr</type>
      <name>getSubSceneGraph</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a9913122d8c70e9daca75b9bb5dff5c51</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>numericalJacobian</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a891db7a005c902c958964c5979ca7600</anchor>
      <arglist>(Eigen::Ref&lt; Eigen::MatrixXd &gt; jacobian, const Eigen::Isometry3d &amp;change_base, const StateSolver &amp;state_solver, const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name, const Eigen::Ref&lt; const Eigen::Vector3d &gt; &amp;link_point)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runAddandRemoveLinkTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>acfa882edab944e020bfbe7e17d5c8c63</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runAddSceneGraphTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a0207efebd2c5ce0547b140e907f9dc4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runChangeJointLimitsTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>abd77bf99e16a5edfc36fedff4f3ce33b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runChangeJointOriginTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>afa2df50411c17b4727a186aea950cdf9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareJacobian</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>adeedfcc23bc7d1bcdd5b3539918cffa9</anchor>
      <arglist>(StateSolver &amp;state_solver, const std::unordered_map&lt; std::string, double &gt; &amp;joints_values, const std::string &amp;link_name, const Eigen::Vector3d &amp;link_point, const Eigen::Isometry3d &amp;change_base)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareJacobian</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>ac306d55f86c9c0cfbef7d1d2d5d3cdea</anchor>
      <arglist>(StateSolver &amp;state_solver, const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::VectorXd &amp;jvals, const std::string &amp;link_name, const Eigen::Vector3d &amp;link_point, const Eigen::Isometry3d &amp;change_base)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareSceneStates</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a3d5d8f4b8dbca44ba06a562c37fb2a7e</anchor>
      <arglist>(const SceneState &amp;base_state, const SceneState &amp;compare_state)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareStateSolver</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a8f74908077d44f8fa4e9514ba4dcf683</anchor>
      <arglist>(const StateSolver &amp;base_solver, StateSolver &amp;comp_solver)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareStateSolverLimits</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>ad7036e32578fd7d17af26a9c8fd363c8</anchor>
      <arglist>(const SceneGraph &amp;scene_graph, const StateSolver &amp;comp_solver)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runJacobianTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a644d93582f19b7e356e84c6c7c04615b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runMoveJointTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a1f456dac84857d7e83707a9fd702ddce</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runMoveLinkTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>ac80e2cd385b2f9fd13605a84554d72eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runReplaceJointTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a5ca0217ce64feee05d4f19d83824f49d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>tesseract_state_solver_ofkt_unit.cpp</name>
    <path>/tmp/ws/src/tesseract/tesseract_state_solver/test/</path>
    <filename>tesseract__state__solver__ofkt__unit_8cpp.html</filename>
    <includes id="ofkt__nodes_8h" name="ofkt_nodes.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_nodes.h</includes>
    <includes id="ofkt__state__solver_8h" name="ofkt_state_solver.h" local="no" imported="no">tesseract_state_solver/ofkt/ofkt_state_solver.h</includes>
    <includes id="state__solver__test__suite_8h" name="state_solver_test_suite.h" local="yes" imported="no">state_solver_test_suite.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a7e481dcd9c510a4226099bb45bdd3e57</anchor>
      <arglist>(TesseractStateSolverUnit, KDLGetJacobianUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a43f1344aeee3aa0b16dbe292b52e61d1</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTAddRemoveLinkUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a6b962785f76c585af1e84c4dadffc358</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTAddSceneGraphUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>ad1bce74b5c7b8fa393961cadc9c2c321</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTChangeJointLimitsUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>af018bf1afcca136c31de49cbae65a75b</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTChangeJointOriginUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a003fc3f9f21a6228cc7402fdd560e6e6</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTGetJacobianUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a78a94981634b32ab7470729f64673e5b</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTMoveJointUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>afb20ef2862ad3d2910172aad8241c52d</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTMoveLinkUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>adde171282561d0bf21c49018f19cfa8e</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTNodeBaseAndFailuresUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>a9641a113a7cf719251757eed1e351613</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTReplaceJointUnit)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>tesseract__state__solver__ofkt__unit_8cpp.html</anchorfile>
      <anchor>ada753155333f358ba3412effb22e4149</anchor>
      <arglist>(TesseractStateSolverUnit, OFKTUnit)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::KDLStateSolver</name>
    <filename>classtesseract__scene__graph_1_1KDLStateSolver.html</filename>
    <base>tesseract_scene_graph::StateSolver</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const KDLStateSolver &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a58c1cf31e46dd742611a3b2b8fb0517e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; const KDLStateSolver &gt;</type>
      <name>ConstUPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aecbf1d40bb0b71fa340cc1ff9ff4c17a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; KDLStateSolver &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a71c7af7524087ae8a7111b79a033c06a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; KDLStateSolver &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>adcd6857fb32390f6243e198c38f1855a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>StateSolver::UPtr</type>
      <name>clone</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a50500b951b3390973b9defb65410dac9</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getActiveJointNames</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a9cc12a5112faab9a1b9cb6fbcd90bb17</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getActiveLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a86351df8d645c16fa42ce37b350e93b0</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a45f23d459f405ed5f3495674e010347c</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a52573c0a6db1a9ca91734594845ad16b</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>acd4aead46a271c560e8f6d871fa981aa</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values, const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a6a4a7f7e533c29cfc47bae1e3457dc5f</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a9cc28b115331cc70ba3e9a6c31a48053</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>tesseract_common::KinematicLimits</type>
      <name>getLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a0e662295e4edb9ed0e7f3067d7e3f748</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>afa6ba6475c30534dcf0c2e7f55d5c589</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>getLinkTransform</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a9009fbb4de24b94411ad1e1552590ccf</anchor>
      <arglist>(const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>tesseract_common::VectorIsometry3d</type>
      <name>getLinkTransforms</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a02624ad236bbd644530140e5bc9a6c90</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getRandomState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>af41c34d197875dfa8e54e5bb3926a35e</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>getRelativeLinkTransform</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a6bdc5c185df597859ac033bc67974160</anchor>
      <arglist>(const std::string &amp;from_link_name, const std::string &amp;to_link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a99ebfd6fe9188acfa76aed166925a0e0</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>afddbdb08c03bd03f2885386ac63011b1</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a62148150dd2391d02589be6f275010a1</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values) const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aa383788ed16b00607ee3c19cae62556a</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getStaticLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a722ca6ce2f0a75b03deabcf368c91e7b</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a1ab545a465543790c9d6242ebc326977</anchor>
      <arglist>(const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isActiveLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a87ff2c249f94ffa7717f81529f246cb6</anchor>
      <arglist>(const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KDLStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aa64e43ea781aa7739e6d27d3b5e55570</anchor>
      <arglist>(const KDLStateSolver &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KDLStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>ae61c799e404e81bb6d9b5cf5f419cdbc</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KDLStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a6e37bf2b130792507862f415a44c52c3</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, KDLTreeData data)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KDLStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a7a7323fca4b113062e786df37e9dcf76</anchor>
      <arglist>(KDLStateSolver &amp;&amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>KDLStateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>afe54527f5abea0a9d752aef1ef6c4111</anchor>
      <arglist>(const KDLStateSolver &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>KDLStateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>ab520ef96829f194c26687a205979509f</anchor>
      <arglist>(KDLStateSolver &amp;&amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a5318389e955709ccdc19380b2ea9ca56</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) override final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a3b64d70a802c1c4d60fecfebeedd780a</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values) override final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a1ca8fca08fbae799a499adfdaeb356e9</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) override final</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~KDLStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aafc8d71fef047b77fc10802a5a2995bd</anchor>
      <arglist>() override=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>calcJacobianHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a981a2a7b98738f02c67794eb4518a580</anchor>
      <arglist>(KDL::Jacobian &amp;jacobian, const KDL::JntArray &amp;kdl_joints, const std::string &amp;link_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>calculateTransforms</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a50c83c819286fa4a61c0a10e1cf822c4</anchor>
      <arglist>(SceneState &amp;state, const KDL::JntArray &amp;q_in, const KDL::SegmentMap::const_iterator &amp;it, const Eigen::Isometry3d &amp;parent_frame) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>calculateTransformsHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aad38e2280b484af0b8c05638bc6e6a00</anchor>
      <arglist>(SceneState &amp;state, const KDL::JntArray &amp;q_in, const KDL::SegmentMap::const_iterator &amp;it, const Eigen::Isometry3d &amp;parent_frame) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>KDL::JntArray</type>
      <name>getKDLJntArray</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>ade6261721f58dc294e070c0618abf7c6</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>KDL::JntArray</type>
      <name>getKDLJntArray</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a5298217ce9089f0541a57e2b44d6da36</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>processKDLData</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a54d1f506756e290cc509d5215788f9dc</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>setJointValuesHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>ad1940d96a2973ecb37cbc6e5f3143b6e</anchor>
      <arglist>(KDL::JntArray &amp;q, const std::string &amp;joint_name, const double &amp;joint_value) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>SceneState</type>
      <name>current_state_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>abb76cdd9e6a4bb2a2522a76e0fc2d6b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDLTreeData</type>
      <name>data_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>af76b4f0014b0d526666bd2c96f1ced49</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; KDL::TreeJntToJacSolver &gt;</type>
      <name>jac_solver_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>af77b2229950f5ad5d2f4ee300b677eed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>joint_qnr_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a7d95a6c36da68d4eccb8f6e8dbd8de66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unordered_map&lt; std::string, unsigned int &gt;</type>
      <name>joint_to_qnr_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aec3294056de85820b48fb110464ab983</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDL::JntArray</type>
      <name>kdl_jnt_array_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a3a08e290fe39a22a390695f06963ca35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tesseract_common::KinematicLimits</type>
      <name>limits_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>a04f5674a66af2874b064bceb5107f9bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::mutex</type>
      <name>mutex_</name>
      <anchorfile>classtesseract__scene__graph_1_1KDLStateSolver.html</anchorfile>
      <anchor>aa750b930441ce01886ea36ca115aeb2f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::MutableStateSolver</name>
    <filename>classtesseract__scene__graph_1_1MutableStateSolver.html</filename>
    <base>tesseract_scene_graph::StateSolver</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const MutableStateSolver &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a7a2e431c2bf879fb1afe690418f4cab7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; const MutableStateSolver &gt;</type>
      <name>ConstUPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a17336128deaa72d4a506495b80a5de35</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; MutableStateSolver &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>acf888642a2ee3dc24dde3d540ce892ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; MutableStateSolver &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a1d061821b17d0e3a5bb9b0c3dc21a062</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>addLink</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a5765b59e98791881e80627e23e786ae1</anchor>
      <arglist>(const Link &amp;link, const Joint &amp;joint)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>changeJointAccelerationLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a50cdd7cc770a98d5a2180066c4241e8a</anchor>
      <arglist>(const std::string &amp;name, double limit)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>changeJointOrigin</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a9677b01b0d0889e9553a7c7f4bce1aa0</anchor>
      <arglist>(const std::string &amp;name, const Eigen::Isometry3d &amp;new_origin)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>changeJointPositionLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>ae23b2d3d7b0767b7ca7f341c10896478</anchor>
      <arglist>(const std::string &amp;name, double lower, double upper)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>changeJointVelocityLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>ac9a021ed4ec2a308f17f4b06856b7f86</anchor>
      <arglist>(const std::string &amp;name, double limit)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>getRevision</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a2f6574bca408984e18c6d6ac1df25edb</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>insertSceneGraph</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>ad50118aa4a9c78bfa753bdd621d5bb3f</anchor>
      <arglist>(const SceneGraph &amp;scene_graph, const Joint &amp;joint, const std::string &amp;prefix=&quot;&quot;)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>moveJoint</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a827b214a2284312211d8f11e447564e5</anchor>
      <arglist>(const std::string &amp;name, const std::string &amp;parent_link)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>moveLink</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a3e932b1a61ff1443b9144b040620219d</anchor>
      <arglist>(const Joint &amp;joint)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MutableStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a4526a715c68097ae8c135dcb92c06545</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MutableStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>aa17467563c39be97b26eeda390098ba9</anchor>
      <arglist>(const MutableStateSolver &amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MutableStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a2b4036090e61b2c935bf212b3ee5be2f</anchor>
      <arglist>(MutableStateSolver &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type>MutableStateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>ab6d3f456f0f6fbfa8e5b709465f27022</anchor>
      <arglist>(const MutableStateSolver &amp;)=default</arglist>
    </member>
    <member kind="function">
      <type>MutableStateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a7ffc12169c0afc298344f330a02d1995</anchor>
      <arglist>(MutableStateSolver &amp;&amp;)=default</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>removeJoint</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a7feca69cd86e830e91f602fb49536225</anchor>
      <arglist>(const std::string &amp;name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>removeLink</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>ac70940d6a07d6460867d14ec29384ec9</anchor>
      <arglist>(const std::string &amp;name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>replaceJoint</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>a69d0b258314644193cdd5dadb1459ce9</anchor>
      <arglist>(const Joint &amp;joint)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRevision</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>ae073b6457dcad8501a63ad7874cadfb6</anchor>
      <arglist>(int revision)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MutableStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1MutableStateSolver.html</anchorfile>
      <anchor>aca62e6fb635273bca3bf53b3b8f03e8f</anchor>
      <arglist>() override=default</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>tesseract_scene_graph::ofkt_builder</name>
    <filename>structtesseract__scene__graph_1_1ofkt__builder.html</filename>
    <member kind="function">
      <type>void</type>
      <name>discover_vertex</name>
      <anchorfile>structtesseract__scene__graph_1_1ofkt__builder.html</anchorfile>
      <anchor>a48463874b92d742abce99ce7959d89cf</anchor>
      <arglist>(u vertex, const g &amp;graph)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ofkt_builder</name>
      <anchorfile>structtesseract__scene__graph_1_1ofkt__builder.html</anchorfile>
      <anchor>ad4830e344134cf3b37be2823d0331486</anchor>
      <arglist>(OFKTStateSolver &amp;tree, std::vector&lt; JointLimits::ConstPtr &gt; &amp;new_joints_limits, std::string prefix=&quot;&quot;)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; JointLimits::ConstPtr &gt; &amp;</type>
      <name>new_joints_limits_</name>
      <anchorfile>structtesseract__scene__graph_1_1ofkt__builder.html</anchorfile>
      <anchor>a663c85e67b9cad4cf091502f889c1883</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>prefix_</name>
      <anchorfile>structtesseract__scene__graph_1_1ofkt__builder.html</anchorfile>
      <anchor>a10e79aab3230fa5f9f35df5d06b1004f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OFKTStateSolver &amp;</type>
      <name>tree_</name>
      <anchorfile>structtesseract__scene__graph_1_1ofkt__builder.html</anchorfile>
      <anchor>a6ce053142e66d5d8cc9532644cd8df3e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTBaseNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTBaseNode.html</filename>
    <base>tesseract_scene_graph::OFKTNode</base>
    <member kind="function">
      <type>void</type>
      <name>addChild</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a57fe11209457a2d00c11af8bdbe0a7c9</anchor>
      <arglist>(OFKTNode *node) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreWorldTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a19a8ae88ecef3d63f5874321147494bd</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a909b4b722c13ea6e85c40adbe120f87b</anchor>
      <arglist>(double joint_value) const override</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; const OFKTNode * &gt; &amp;</type>
      <name>getChildren</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a14eb1e1b3b9ec6b420e077931003d4d1</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; OFKTNode * &gt; &amp;</type>
      <name>getChildren</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ab200eb419273d12f78210fb9a725f458</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>const std::string &amp;</type>
      <name>getJointName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a93e53901b651bdad3789401869a8a69d</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a8efa646a89820e0ab8330c2ea5d9e112</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const std::string &amp;</type>
      <name>getLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a886f74bbd8f88166679b9083554f3edf</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Isometry3d &amp;</type>
      <name>getLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a5eef1a04fed2e524bb6e8b18b4cb6c93</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>getLocalTwist</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ae4a18dc308b859d8b9ee1133bfc970ad</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const OFKTNode *</type>
      <name>getParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a146554418baaff04593b56caa8538c7b</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>OFKTNode *</type>
      <name>getParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a4ff257820c38eef47af929cdbd457795</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Isometry3d &amp;</type>
      <name>getStaticTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ae190b707426a8ec338ae1a42a884ad8c</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>JointType</type>
      <name>getType</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a4e1d94d93e5fe12e2b7fad64efb7fc23</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Isometry3d &amp;</type>
      <name>getWorldTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a8d95a06315d6f98edb15cc178e811573</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasJointValueChanged</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a8d9c30e9bb4391e058954a8be9cc01d5</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>OFKTBaseNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>aaa8354df73eeb9ffc82a5413a05c38cf</anchor>
      <arglist>(JointType type, OFKTNode *parent, std::string link_name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTBaseNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ae07cc19ede9920c7d051d5423118fa2e</anchor>
      <arglist>(JointType type, OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &amp;static_tf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removeChild</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>aac5ba3c73d256e6c092b60865371beba</anchor>
      <arglist>(const OFKTNode *node) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a28a0b85fb901f1caf4f4927ebc3c7b15</anchor>
      <arglist>(OFKTNode *parent) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStaticTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>afd3307b122c4144c151c5dad7ddb24bd</anchor>
      <arglist>(const Eigen::Isometry3d &amp;static_tf) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>storeJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a09bf85c903c7b06af846a994860990f0</anchor>
      <arglist>(double joint_value) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>updateWorldTransformationRequired</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ad0ab4f405a66c8a311e597a3ddc57b82</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; OFKTNode * &gt;</type>
      <name>children_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>aeaf5173e7f2fab4735ba37ac4931e920</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; const OFKTNode * &gt;</type>
      <name>children_const_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a824383ae35d7cca9da5b9d7eb59eacea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>joint_name_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ae6625c16deb61434476008f1b2e3a8ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Isometry3d</type>
      <name>joint_tf_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ae6de6e56adea5f5087ae12cb8edfdddd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>joint_value_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a162ea163c8c0033e51a6546bbcc14036</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>joint_value_changed_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ad92627c415427322208a904b9d48607d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>link_name_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>ac394544c98b9899adbdf1ea42cc1d47d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Isometry3d</type>
      <name>local_tf_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>aa061b1d1614d750b2ee4531439138e01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>local_twist_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a512325a7eda963e3002c84a88adee5d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>OFKTNode *</type>
      <name>parent_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a40d4bb94219b9608af74275510f6d156</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Isometry3d</type>
      <name>static_tf_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a3c2ea555e6208b6682f55c5ecc41d31d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tesseract_scene_graph::JointType</type>
      <name>type_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a600186b55fa3147f5f1b69a2acbc75ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>update_world_required_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a26fef0612bc1459b213f197c2e1e193a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Isometry3d</type>
      <name>world_tf_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>acb6a6b6a00a51ee18ca1c4b4344e71f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="protected">
      <type>friend class</type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTBaseNode.html</anchorfile>
      <anchor>a04c5cec13fafb90debd7afa7a3c833c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTContinuousNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTContinuousNode.html</filename>
    <base>tesseract_scene_graph::OFKTBaseNode</base>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>a6e5ecca3faaa0b6d3708e71132166b1d</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>a52c5a037f9bbfc139a6a830f2a396ce6</anchor>
      <arglist>(double joint_value) const override</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector3d &amp;</type>
      <name>getAxis</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>a1f91b0abbd87ef34b7a9bba3174d4d6d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>OFKTContinuousNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>af0f19575c9896f0a7c591c4755194fc8</anchor>
      <arglist>(OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &amp;static_tf, const Eigen::Vector3d &amp;axis)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeAndStoreLocalTransformationImpl</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>a86e721f9598280f5d3ac64f1fd0b50e7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>axis_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>a61bf2dab123e8b1fc1ce7cc2c30323d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTContinuousNode.html</anchorfile>
      <anchor>a04c5cec13fafb90debd7afa7a3c833c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTFixedNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTFixedNode.html</filename>
    <base>tesseract_scene_graph::OFKTBaseNode</base>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>a859993174282115489c6f894da7625b8</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>acd17d4ffea29bbe33dd79ec53a45d04f</anchor>
      <arglist>(double joint_value) const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>a8263084b728064f55a19b19c7bcd72bd</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>OFKTFixedNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>a029e75611f90d63583448f63eb40f096</anchor>
      <arglist>(OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &amp;static_tf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStaticTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>a5986f943d2b672324e48c42bf9d3ba2e</anchor>
      <arglist>(const Eigen::Isometry3d &amp;static_tf) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>storeJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>a734b18b3bfd566e59bf82bdcaf1f0019</anchor>
      <arglist>(double joint_value) override</arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTFixedNode.html</anchorfile>
      <anchor>a04c5cec13fafb90debd7afa7a3c833c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTNode.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const OFKTNode &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a6b74844ebc752ce58be7e73b1d039047</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; OFKTNode &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ae4a3402fadd785320265575e13d191df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; OFKTNode &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a95c6ae7f1e085493d4c60d87521c8638</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addChild</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a876849040d8c2571a673f93238df9755</anchor>
      <arglist>(OFKTNode *node)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>computeAndStoreLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a26d0beee2bcf07592b232993d2e42f5c</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>computeAndStoreWorldTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a31b40282c61973e152dfdc52d6cc25c9</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a754f7383025e5859a302758635830917</anchor>
      <arglist>(double joint_value) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const std::vector&lt; const OFKTNode * &gt; &amp;</type>
      <name>getChildren</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a7deee00205ca5064ef304948b25b2bc9</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; OFKTNode * &gt; &amp;</type>
      <name>getChildren</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ab6873dd0abba82611e73fe65fd0c8c5f</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const std::string &amp;</type>
      <name>getJointName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ad9678a55e25254d5cb41eb7154b66de1</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ad13cd9608d44da9acaf90f230252dd1b</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const std::string &amp;</type>
      <name>getLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a2f0953e993a0142bd7865d05b4937a38</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Eigen::Isometry3d &amp;</type>
      <name>getLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a6642a8fc20f00bfdf033256afb491b3d</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>getLocalTwist</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a28ceb604e5f5efff88ddde3045eda3ac</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const OFKTNode *</type>
      <name>getParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>af051b0f4f9c76649b590df70a1ed1b6c</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual OFKTNode *</type>
      <name>getParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a6653248e1c8c292fe6feff665c9b23f1</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Eigen::Isometry3d &amp;</type>
      <name>getStaticTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a718bd9dd998d9be0638971dc32f6a4eb</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual JointType</type>
      <name>getType</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a3a16773af2561bd3f7ad0e15db93d235</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Eigen::Isometry3d &amp;</type>
      <name>getWorldTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a546e30f520bfa3a4881283dcc42b8696</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>hasJointValueChanged</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a7b9383b73548e6b93ed055858012710b</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a489b93487ac861f080e62fda9d2b6eeb</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>aecadf29e16e3981d79d8ce89bb0e9c13</anchor>
      <arglist>(const OFKTNode &amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a436cec01bf97d24144305c8f28d2ea54</anchor>
      <arglist>(OFKTNode &amp;&amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>OFKTNode &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ab4cf772b7e3bfe86b1440c2a276b8e70</anchor>
      <arglist>(const OFKTNode &amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>OFKTNode &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a1035224496d1662cc07f22a3558fa15f</anchor>
      <arglist>(OFKTNode &amp;&amp;)=delete</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>removeChild</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ace41ff8d92cd9f0af510db31c7f40df3</anchor>
      <arglist>(const OFKTNode *node)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a36cad59a0958106437e79b9a224b9614</anchor>
      <arglist>(OFKTNode *parent)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setStaticTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a760b7a2a4a30265c806f5463ada3a328</anchor>
      <arglist>(const Eigen::Isometry3d &amp;static_tf)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>storeJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>aeb748863024cf4f27b0ffb4153c27727</anchor>
      <arglist>(double joint_value)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>updateWorldTransformationRequired</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>a0d4dd96ef7cd93ddf915d95e12e61e3b</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OFKTNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTNode.html</anchorfile>
      <anchor>ac8ba9a284ec5b3e3d8b2b508d734a5a9</anchor>
      <arglist>()=default</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTPrismaticNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</filename>
    <base>tesseract_scene_graph::OFKTBaseNode</base>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>a099a1b3882b33874e2f4b95a5e1e2957</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>a09b9a20956733db191d0607ccebd7372</anchor>
      <arglist>(double joint_value) const override</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector3d &amp;</type>
      <name>getAxis</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>adf9356cefb207dcd48ecfa51a4d8bcee</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>OFKTPrismaticNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>af1de7c638973fcff2dbb9f7bac27c902</anchor>
      <arglist>(OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &amp;static_tf, const Eigen::Vector3d &amp;axis)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeAndStoreLocalTransformationImpl</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>a24b10cf440e3ad0e72b7f3c2a92d8f8b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>axis_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>a8d01bbb1aa8acccbba786a1fb601cd49</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTPrismaticNode.html</anchorfile>
      <anchor>a04c5cec13fafb90debd7afa7a3c833c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTRevoluteNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</filename>
    <base>tesseract_scene_graph::OFKTBaseNode</base>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>a2ad8244a3d7af7cbafd1bcee77087af3</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>ae3d0b816639407a93cf93ba4ffb04bf9</anchor>
      <arglist>(double joint_value) const override</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector3d &amp;</type>
      <name>getAxis</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>af6e6eb2a9981e99c88e959064e134256</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>OFKTRevoluteNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>a7f45fe7f00135786c7a9837bc49edc55</anchor>
      <arglist>(OFKTNode *parent, std::string link_name, std::string joint_name, const Eigen::Isometry3d &amp;static_tf, const Eigen::Vector3d &amp;axis)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>storeJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>ab961bda64c57085118dccf0da2491844</anchor>
      <arglist>(double joint_value) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>computeAndStoreLocalTransformationImpl</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>ac80a5fd78574a6f2337bbc7264b52343</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3d</type>
      <name>axis_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>ad899718c6752206feafbdaa986f93ca6</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRevoluteNode.html</anchorfile>
      <anchor>a04c5cec13fafb90debd7afa7a3c833c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTRootNode</name>
    <filename>classtesseract__scene__graph_1_1OFKTRootNode.html</filename>
    <base>tesseract_scene_graph::OFKTBaseNode</base>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a42945d191fad7fb0f90a570aaf8512b9</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeAndStoreWorldTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>add569faf12e6707c4859aee4b3671989</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>computeLocalTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a0c71bbb5f19427580753c14b6e8d01fe</anchor>
      <arglist>(double joint_value) const override</arglist>
    </member>
    <member kind="function">
      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>OFKTRootNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a565237dda5af1217bcd54ef8fbc574f2</anchor>
      <arglist>(std::string link_name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParent</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a66cc3950d2bb88ddb2179a3eac67b60e</anchor>
      <arglist>(OFKTNode *parent) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStaticTransformation</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a2e9f355ed7e4e33eefba755f26f2b0b2</anchor>
      <arglist>(const Eigen::Isometry3d &amp;static_tf) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>storeJointValue</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>ac30baad43c45c6ea02a864b5c4de8ecd</anchor>
      <arglist>(double joint_value) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>updateWorldTransformationRequired</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a8d6eb376df18a0dbf488bae3629472c2</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTRootNode.html</anchorfile>
      <anchor>a04c5cec13fafb90debd7afa7a3c833c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::OFKTStateSolver</name>
    <filename>classtesseract__scene__graph_1_1OFKTStateSolver.html</filename>
    <base>tesseract_scene_graph::MutableStateSolver</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const OFKTStateSolver &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a2c423706ec6e518a39f03a2ff7aff3df</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; const OFKTStateSolver &gt;</type>
      <name>ConstUPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aca489742c9decdc23aed93750dc3f5d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; OFKTStateSolver &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aec6ae27aa4d135f51af4704d86553c03</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; OFKTStateSolver &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a7becda3021851a7ae4db474eaefed5c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addLink</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ac3ef786331721e642c695c9749bfff9a</anchor>
      <arglist>(const Link &amp;link, const Joint &amp;joint) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>changeJointAccelerationLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a439631c13339288be33a41476007fe7b</anchor>
      <arglist>(const std::string &amp;name, double limit) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>changeJointOrigin</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aec35e56064d89983c6f85b72cc412d80</anchor>
      <arglist>(const std::string &amp;name, const Eigen::Isometry3d &amp;new_origin) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>changeJointPositionLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aad0dd38c09d3fb22efe2e3fe6c7df382</anchor>
      <arglist>(const std::string &amp;name, double lower, double upper) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>changeJointVelocityLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ad5ac41ceeb316c58874aa68f257144ea</anchor>
      <arglist>(const std::string &amp;name, double limit) override final</arglist>
    </member>
    <member kind="function">
      <type>StateSolver::UPtr</type>
      <name>clone</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a5734b842aca63380614f60f9092079de</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getActiveJointNames</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a778cccf8f6702c880168e6475db48ad8</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getActiveLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aea1e0f0a0489301d8b0bb391dd27fe55</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a3e7587e8449b9fa9d7ea46d13eccd0db</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a51d5e2e00d5b7a0fb566a121025234c4</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>afcb4e99f7fb9466ca122dcb98934f810</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joints_values, const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a12d49029643ba3fd79bafc9947096340</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ab8c27800a8de8bac9c3b7719fa11de2a</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>tesseract_common::KinematicLimits</type>
      <name>getLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a68cfe8c605215348546a2b67f7f69c0c</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a71e753e43764b6e6f6f1729716b929b5</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>getLinkTransform</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ab499161a0bc0b09fecee62ec5c349b8d</anchor>
      <arglist>(const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>tesseract_common::VectorIsometry3d</type>
      <name>getLinkTransforms</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a7c191ea2aaf1b66d4352e3e1a6d69c4d</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getRandomState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a66a5121e1603ad876974e204ae0a14d9</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Isometry3d</type>
      <name>getRelativeLinkTransform</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a5439bd042e472bc072109ae837c0a740</anchor>
      <arglist>(const std::string &amp;from_link_name, const std::string &amp;to_link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getRevision</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aaebf658a50f9efd75bae693531e3f71b</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ad094b8445776e90f63d5f85f19fb7c00</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a6c20881d959ec6360063308fad0d41e6</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ad7ba6d485ea31199335645f3d3e840d6</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values) const override final</arglist>
    </member>
    <member kind="function">
      <type>SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a525e8276271c43077f6277df23a2e32b</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const override final</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>getStaticLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ad1292ae4f343f3d2498e9d87e857b9c2</anchor>
      <arglist>() const override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a002f51c7fb4fe4107f0a4c15ca551d55</anchor>
      <arglist>(const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>insertSceneGraph</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ab8c1b3ac2ff8c470f20cb9b159ae83a4</anchor>
      <arglist>(const SceneGraph &amp;scene_graph, const Joint &amp;joint, const std::string &amp;prefix=&quot;&quot;) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isActiveLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a8aee35dbbddeb62bdcd4069962eedf2d</anchor>
      <arglist>(const std::string &amp;link_name) const override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>moveJoint</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a2ce786f5c9931049dc646b8c367ecbd5</anchor>
      <arglist>(const std::string &amp;name, const std::string &amp;parent_link) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>moveLink</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a45a95b8ee0a71d0727d0a3d5f19a72d6</anchor>
      <arglist>(const Joint &amp;joint) override final</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ac1ce8d5379a9efbeb28ef6c8803ac4f3</anchor>
      <arglist>(const OFKTStateSolver &amp;other)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a83c7840e75fe677b36f043d53afd91cd</anchor>
      <arglist>(const std::string &amp;root_name)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a6574a3ff501312e26a5c4c493eb0bed8</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::string &amp;prefix=&quot;&quot;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ae7291076eb6f472a376fca812c9e19d7</anchor>
      <arglist>(OFKTStateSolver &amp;&amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>OFKTStateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a538facdeb0f8c910e87dcc3919a9642f</anchor>
      <arglist>(const OFKTStateSolver &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>OFKTStateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ad249c1a11f559c25f6ff52c72df7e8c3</anchor>
      <arglist>(OFKTStateSolver &amp;&amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>removeJoint</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aa553b5d7c69564cbc428ae43293dd23a</anchor>
      <arglist>(const std::string &amp;name) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>removeLink</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ae01b945659e38e9368cbfabed370a309</anchor>
      <arglist>(const std::string &amp;name) override final</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>replaceJoint</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a9bf70be378f138e97cbc5735f3701754</anchor>
      <arglist>(const Joint &amp;joint) override final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRevision</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a79e00a40f6ed9206d20007dfd70932a4</anchor>
      <arglist>(int revision) override final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>af700e9cef4517f715a0749ea58ac9bdd</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) override final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a1a7d316d62736a2b924bf46c7ca40966</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values) override final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a2892df7e5cca9b4235226d3c338731f0</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) override final</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~OFKTStateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a95f3d515b47fd91d99913d0e99cd1dfc</anchor>
      <arglist>() override=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>addNewJointLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a36a23193ba11aa9a951c00a40dda308c</anchor>
      <arglist>(const std::vector&lt; std::shared_ptr&lt; const JointLimits &gt;&gt; &amp;new_joint_limits)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>addNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>afd69f4a84e6f490dd00fd9d59b784b57</anchor>
      <arglist>(const Joint &amp;joint, const std::string &amp;joint_name, const std::string &amp;parent_link_name, const std::string &amp;child_link_name, std::vector&lt; std::shared_ptr&lt; const JointLimits &gt;&gt; &amp;new_joint_limits)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>calcJacobianHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a7734863002452adc512c221b1403e5a5</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joints, const std::string &amp;link_name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>af4297ba3267ae0017b5e87dcaa4acf21</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cloneHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a4be22ce749c6f1edac2b8ad2797054df</anchor>
      <arglist>(OFKTStateSolver &amp;cloned, const OFKTNode *node) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>initHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ab61c01c09888cb61224b0fcf7686f10c</anchor>
      <arglist>(const tesseract_scene_graph::SceneGraph &amp;scene_graph, const std::string &amp;prefix)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>loadActiveLinkNamesRecursive</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a619b8263a9d1ff7c5dec3d27191525e4</anchor>
      <arglist>(std::vector&lt; std::string &gt; &amp;active_link_names, const OFKTNode *node, bool active) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>loadStaticLinkNamesRecursive</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a39d133dfafa6d8a3faf24bbd5e57c8b1</anchor>
      <arglist>(std::vector&lt; std::string &gt; &amp;static_link_names, const OFKTNode *node) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>moveLinkHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a72e52c61dd9e9676824f662e5b505e46</anchor>
      <arglist>(std::vector&lt; std::shared_ptr&lt; const JointLimits &gt;&gt; &amp;new_joint_limits, const Joint &amp;joint)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>removeJointHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a1ee811e857087efa5d68bd12fdaeffaa</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;removed_links, const std::vector&lt; std::string &gt; &amp;removed_joints, const std::vector&lt; std::string &gt; &amp;removed_active_joints, const std::vector&lt; long &gt; &amp;removed_active_joints_indices)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>removeNode</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a7adb6c740765b24a9dc31a3dfba47c52</anchor>
      <arglist>(OFKTNode *node, std::vector&lt; std::string &gt; &amp;removed_links, std::vector&lt; std::string &gt; &amp;removed_joints, std::vector&lt; std::string &gt; &amp;removed_active_joints, std::vector&lt; long &gt; &amp;removed_active_joints_indices)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>replaceJointHelper</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aa6fcee2bc101c810e324a0d38f2ff6aa</anchor>
      <arglist>(std::vector&lt; std::shared_ptr&lt; const JointLimits &gt;&gt; &amp;new_joint_limits, const Joint &amp;joint)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>update</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a879cc7aa8da89043d2f1d290ae9cafbe</anchor>
      <arglist>(OFKTNode *node, bool update_required)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>update</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>af4f7fd1bb0db1f95a716b556ebb46590</anchor>
      <arglist>(SceneState &amp;state, const OFKTNode *node, const Eigen::Isometry3d &amp;parent_world_tf, bool update_required) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>active_joint_names_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>aed37a10c9786f00127bed6aedcc8189d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>SceneState</type>
      <name>current_state_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ac8e79ab61d299aa51a292180d12625a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a0165077bc3db7f4faba78da3a6bfe89c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tesseract_common::KinematicLimits</type>
      <name>limits_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a36e99fabb0e0c153685e61c17d0bb099</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unordered_map&lt; std::string, OFKTNode * &gt;</type>
      <name>link_map_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>af8d638ce58c58ddeb9f1df1e828f3501</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>link_names_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a21557e14491a0c547f8f190d4f045ed6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_mutex</type>
      <name>mutex_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>af8872168f97e7d3b93ffd523de8c5e5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unordered_map&lt; std::string, std::unique_ptr&lt; OFKTNode &gt; &gt;</type>
      <name>nodes_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a825dbb8b3634de6b6ac3d2ffdcaf8f3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>revision_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>a4221a8b4c2dba8c30bb53fbbc6da960b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; OFKTNode &gt;</type>
      <name>root_</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>ab55145c15aca26b4b8e3dbc8c4fd6be7</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend struct</type>
      <name>ofkt_builder</name>
      <anchorfile>classtesseract__scene__graph_1_1OFKTStateSolver.html</anchorfile>
      <anchor>adbb104f4da94ac1963c63a970ed9477d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>tesseract_scene_graph::StateSolver</name>
    <filename>classtesseract__scene__graph_1_1StateSolver.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const StateSolver &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a124eeb9936fc63843cf91c5622bfa562</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; const StateSolver &gt;</type>
      <name>ConstUPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a2d8dfe9eb71c080dae1ec06fe9221d2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; StateSolver &gt;</type>
      <name>Ptr</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a5beb5d8f099e0d4bc7b45b9be7c94318</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::unique_ptr&lt; StateSolver &gt;</type>
      <name>UPtr</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a0834c4abefbc5b7da4e66cd26619a9ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual StateSolver::UPtr</type>
      <name>clone</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>ad88a0e40214e35d5de7fa47074499ba0</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getActiveJointNames</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>ad3ae3e609cce0521fa295b4b875afa5b</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getActiveLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a5c77453f4e11b4dcfd7176b1f65cce6d</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::string</type>
      <name>getBaseLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>ab29a8aec90d5df565bdb9316280de860</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a07bf9d73c4f6b3885e72ac696e71f6cb</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a3d858fad85dd1d7e6be45a477f11ed12</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values, const std::string &amp;link_name) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::MatrixXd</type>
      <name>getJacobian</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a9148b4305eb045645bfb2a7eac2746dc</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getJointNames</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a1cd45dfd864e7d6fb1b4d8056d28763c</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual tesseract_common::KinematicLimits</type>
      <name>getLimits</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a9a6500620632aa09e6f7d3ba06a11203</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a89fd1ec7e29a608e2b9a1ec78107ed2f</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::Isometry3d</type>
      <name>getLinkTransform</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a9ac88af6307dfbb281cda21970e96a94</anchor>
      <arglist>(const std::string &amp;link_name) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual tesseract_common::VectorIsometry3d</type>
      <name>getLinkTransforms</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>ac3991a6844bef5d336ddda10ad8e0fe8</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SceneState</type>
      <name>getRandomState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a15567db8542f473c54b1bfe0a5cb360a</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::Isometry3d</type>
      <name>getRelativeLinkTransform</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>aaec713a1c063d905f8c66b011e2884d6</anchor>
      <arglist>(const std::string &amp;from_link_name, const std::string &amp;to_link_name) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a8ee5f78843e293c4d9cd0d8b71372519</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a795683cd30c399f5723bbbbe50b6c919</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a6a9e3e62ce768aaddbefd713a3be2115</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SceneState</type>
      <name>getState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a9979c4d7269be1902e0dcb64b9b61ed0</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; std::string &gt;</type>
      <name>getStaticLinkNames</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a865baa2bd51dea57df28888371f113d5</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>hasLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a6651b931afdb4e5273b7e148c4210f6e</anchor>
      <arglist>(const std::string &amp;link_name) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isActiveLinkName</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>aa317e234377772c6c962a5743e299b1a</anchor>
      <arglist>(const std::string &amp;link_name) const =0</arglist>
    </member>
    <member kind="function">
      <type>StateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>ac2ae5afdd351deeabc4d2cbbb0bd19c5</anchor>
      <arglist>(const StateSolver &amp;)=default</arglist>
    </member>
    <member kind="function">
      <type>StateSolver &amp;</type>
      <name>operator=</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a77263a08dd0f155987c3cf625cb50aa4</anchor>
      <arglist>(StateSolver &amp;&amp;)=default</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>ae2d6ddc4de2aa1dcdf89dcf3d4d4a7ab</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a34cc5ed4d42c8ebe3a91a8ab624f7a55</anchor>
      <arglist>(const std::unordered_map&lt; std::string, double &gt; &amp;joint_values)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setState</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a928eadfb2ddfd041245968697d11b77e</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a7febf125130ff54f459bd217ee965795</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>afbc122e1f17c397af7132b2ef37d4808</anchor>
      <arglist>(const StateSolver &amp;)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a76b4c6a95f88d1e7a6b986125f610823</anchor>
      <arglist>(StateSolver &amp;&amp;)=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~StateSolver</name>
      <anchorfile>classtesseract__scene__graph_1_1StateSolver.html</anchorfile>
      <anchor>a8e8508d806080d90f6e9e9aa733e4d76</anchor>
      <arglist>()=default</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>tesseract_scene_graph</name>
    <filename>namespacetesseract__scene__graph.html</filename>
    <namespace>tesseract_scene_graph::test_suite</namespace>
    <class kind="class">tesseract_scene_graph::KDLStateSolver</class>
    <class kind="class">tesseract_scene_graph::MutableStateSolver</class>
    <class kind="struct">tesseract_scene_graph::ofkt_builder</class>
    <class kind="class">tesseract_scene_graph::OFKTBaseNode</class>
    <class kind="class">tesseract_scene_graph::OFKTContinuousNode</class>
    <class kind="class">tesseract_scene_graph::OFKTFixedNode</class>
    <class kind="class">tesseract_scene_graph::OFKTNode</class>
    <class kind="class">tesseract_scene_graph::OFKTPrismaticNode</class>
    <class kind="class">tesseract_scene_graph::OFKTRevoluteNode</class>
    <class kind="class">tesseract_scene_graph::OFKTRootNode</class>
    <class kind="class">tesseract_scene_graph::OFKTStateSolver</class>
    <class kind="class">tesseract_scene_graph::StateSolver</class>
  </compound>
  <compound kind="namespace">
    <name>tesseract_scene_graph::test_suite</name>
    <filename>namespacetesseract__scene__graph_1_1test__suite.html</filename>
    <member kind="function">
      <type>SceneGraph::UPtr</type>
      <name>getSceneGraph</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a3a503bedb111fb56460cc53f1f18e9a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>SceneGraph::UPtr</type>
      <name>getSubSceneGraph</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a9913122d8c70e9daca75b9bb5dff5c51</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>numericalJacobian</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a891db7a005c902c958964c5979ca7600</anchor>
      <arglist>(Eigen::Ref&lt; Eigen::MatrixXd &gt; jacobian, const Eigen::Isometry3d &amp;change_base, const StateSolver &amp;state_solver, const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;joint_values, const std::string &amp;link_name, const Eigen::Ref&lt; const Eigen::Vector3d &gt; &amp;link_point)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runAddandRemoveLinkTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>acfa882edab944e020bfbe7e17d5c8c63</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runAddSceneGraphTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a0207efebd2c5ce0547b140e907f9dc4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runChangeJointLimitsTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>abd77bf99e16a5edfc36fedff4f3ce33b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runChangeJointOriginTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>afa2df50411c17b4727a186aea950cdf9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareJacobian</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>adeedfcc23bc7d1bcdd5b3539918cffa9</anchor>
      <arglist>(StateSolver &amp;state_solver, const std::unordered_map&lt; std::string, double &gt; &amp;joints_values, const std::string &amp;link_name, const Eigen::Vector3d &amp;link_point, const Eigen::Isometry3d &amp;change_base)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareJacobian</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>ac306d55f86c9c0cfbef7d1d2d5d3cdea</anchor>
      <arglist>(StateSolver &amp;state_solver, const std::vector&lt; std::string &gt; &amp;joint_names, const Eigen::VectorXd &amp;jvals, const std::string &amp;link_name, const Eigen::Vector3d &amp;link_point, const Eigen::Isometry3d &amp;change_base)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareSceneStates</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a3d5d8f4b8dbca44ba06a562c37fb2a7e</anchor>
      <arglist>(const SceneState &amp;base_state, const SceneState &amp;compare_state)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareStateSolver</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a8f74908077d44f8fa4e9514ba4dcf683</anchor>
      <arglist>(const StateSolver &amp;base_solver, StateSolver &amp;comp_solver)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runCompareStateSolverLimits</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>ad7036e32578fd7d17af26a9c8fd363c8</anchor>
      <arglist>(const SceneGraph &amp;scene_graph, const StateSolver &amp;comp_solver)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runJacobianTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a644d93582f19b7e356e84c6c7c04615b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runMoveJointTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a1f456dac84857d7e83707a9fd702ddce</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runMoveLinkTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>ac80e2cd385b2f9fd13605a84554d72eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>runReplaceJointTest</name>
      <anchorfile>namespacetesseract__scene__graph_1_1test__suite.html</anchorfile>
      <anchor>a5ca0217ce64feee05d4f19d83824f49d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
</tagfile>
