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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>atan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aec69fd13a968acc96224cfc6c0d261e5</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>atan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab35b68b021e044b46c03f38c4c14738f</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>atan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a799650ee210b3260a6255f8d8f2b6b99</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5b66be54ba5f45a06751e99d881c53ea</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a04e57bfbdbf57b878c4c54a9ceb7ebf9</anchor>
      <arglist>(double a, double b)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aeaea5afce42aa1a21d7fbce3d75969d1</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>changeBase</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa440186e9c44a521afa7e2e8816866a5</anchor>
      <arglist>(const Jacobian &amp;src1, const Rotation &amp;rot, Jacobian &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>changeRefFrame</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a54141738e3da2da7cebea6bd59ed605b</anchor>
      <arglist>(const Jacobian &amp;src1, const Frame &amp;frame, Jacobian &amp;dest)</arglist>
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      <type>bool</type>
      <name>changeRefPoint</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae68d5c0d686d03b0a779f595083209c3</anchor>
      <arglist>(const Jacobian &amp;src1, const Vector &amp;base_AB, Jacobian &amp;dest)</arglist>
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      <type>void</type>
      <name>checkDiffs</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afa0dd1bd029ad0f2f51f07be7ba97c42</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>checkDoubleOps</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6cdf7ff2b751c04cb8c248d064cf3eff</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkEqual</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab7804c53df3c43b41c15ddddfc3bfa74</anchor>
      <arglist>(const T &amp;a, const T &amp;b, double eps)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkEulerZYX</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abd6725a64375d5a20e9ccdcc435f68ed</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkFrameOps</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac67b73fe0546b2c549678cf3b99fb390</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkFrameVelOps</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2baa428714b4624f647d157130ed6f82</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a887e76f013222161ad97011c29f44567</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a28fb39c2d77d3050aebc60d3fcb67797</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4f00c87082c43c31c5bbc9305d064acd</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>cosh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abda1794286cb009f3205067b8444ac14</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>cosh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a38afce44f23b730b7d570b66b838aa68</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>cosh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a872ad38e62e8f1fac77f5083ffcbb0dd</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>Chain</type>
      <name>d2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2c919aa6e336f8a1a90cfc3dad43b1f5</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Chain</type>
      <name>d6</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a7085f1d08acf85c900ceb4f3e8f39ac5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac33cd30cdcbb2a408118c7f4da33d839</anchor>
      <arglist>(const doubleVel &amp;a, const doubleVel &amp;b, double dt=1.0)</arglist>
    </member>
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      <type>double</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a46bf12853011243d224d0faf74f975f0</anchor>
      <arglist>(double a, double b, double dt)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abcbdf134e1245fff7276c09d93bc129e</anchor>
      <arglist>(const VectorVel &amp;a, const VectorVel &amp;b, double dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af6fe4108d2d1bc8f56de6ada8b1e02a2</anchor>
      <arglist>(const RotationVel &amp;a, const RotationVel &amp;b, double dt=1.0)</arglist>
    </member>
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      <type>IMETHOD TwistVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4abe67e47461ea82dd1764ff915b8e5f</anchor>
      <arglist>(const FrameVel &amp;a, const FrameVel &amp;b, double dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a721ba3f54f506bc1004fb981a9ea7b13</anchor>
      <arglist>(const Vector &amp;p_w_a, const Vector &amp;p_w_b, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad23c4b0b7788db8ecc670b5561dbc427</anchor>
      <arglist>(const Rotation &amp;R_a_b1, const Rotation &amp;R_a_b2, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Twist</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af738311fdea560d6255894ddc0425095</anchor>
      <arglist>(const Frame &amp;F_a_b1, const Frame &amp;F_a_b2, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Twist</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a64a30fa7b4a6a532cbd43ad90c93bc5e</anchor>
      <arglist>(const Twist &amp;a, const Twist &amp;b, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Wrench</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a0207da13db4661467e2e8c74cce973a5</anchor>
      <arglist>(const Wrench &amp;W_a_p1, const Wrench &amp;W_a_p2, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a271c55c29a0bbb873d420392f4cd1685</anchor>
      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a29a463da0ea75ee267a9229b6397cff4</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae8b64e8487e3bb3b6a8f2ccf5255c80f</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae139248a5f388a7926789e58a1cb192b</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa9dca0c2efb73851970931de9f0daa6e</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const double &amp;factor, JntSpaceInertiaMatrix &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab47fd546752c9082c646e51430daed25</anchor>
      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Divide</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58ae4682bfa96df290a84bc8764db2f3</anchor>
      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>doubleAcc</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3fd338e2da27c7bd6ca0e37b0f0df6bc</anchor>
      <arglist>(const VectorAcc &amp;lhs, const VectorAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>doubleAcc</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a107183962fe5c2cb927be493403bb397</anchor>
      <arglist>(const VectorAcc &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>doubleAcc</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a13b5aff556e90ec3023cbb2aa8cab6e3</anchor>
      <arglist>(const Vector &amp;lhs, const VectorAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a59eeac3549f0285cf74e1a0cf7d6a252</anchor>
      <arglist>(const VectorVel &amp;lhs, const VectorVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a249338544fa35389e6ef0557ae975b31</anchor>
      <arglist>(const VectorVel &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac268827dde5f83564132e3991e914661</anchor>
      <arglist>(const Vector &amp;lhs, const VectorVel &amp;rhs)</arglist>
    </member>
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      <type>IMETHOD double</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4db9af1413269c11e7d2545598b1007f</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
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      <type>IMETHOD double</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa63cf4bc264d241cd79de32af80d7fdc</anchor>
      <arglist>(const Twist &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
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      <type>IMETHOD double</type>
      <name>dot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a075c80a9c5b8b4db8221d84dbe16321a</anchor>
      <arglist>(const Wrench &amp;rhs, const Twist &amp;lhs)</arglist>
    </member>
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      <type>void</type>
      <name>Eat</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a31d23582bde3483d45295cec3e54a8b3</anchor>
      <arglist>(std::istream &amp;is, int delim)</arglist>
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      <type>void</type>
      <name>Eat</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa1f884273ae8bdbcb4638569d12484e3</anchor>
      <arglist>(std::istream &amp;is, const char *descript)</arglist>
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      <type>void</type>
      <name>EatEnd</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a00837fd6a97743f18dc3ee514dbb1dbe</anchor>
      <arglist>(std::istream &amp;is, int delim)</arglist>
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      <type>void</type>
      <name>EatWord</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3ae42cae48abc196d6b3c15244b63f06</anchor>
      <arglist>(std::istream &amp;is, const char *delim, char *storage, int maxsize)</arglist>
    </member>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aceb6e09c6452163b3558a3a3cc07218e</anchor>
      <arglist>(const FrameAcc &amp;r1, const FrameAcc &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>adfd020186f84b57bbc3b68ffce524f62</anchor>
      <arglist>(const Frame &amp;r1, const FrameAcc &amp;r2, double eps=epsilon)</arglist>
    </member>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a720066d9cded8fbede747b8709346807</anchor>
      <arglist>(const FrameAcc &amp;r1, const Frame &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8a8d76717c6b496e08e425c012f8b89b</anchor>
      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a02b22cc9116b2baca5a86eaee825076e</anchor>
      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8011b8ae760bbe1aa062b699ad93038c</anchor>
      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab62149a668287784cd5695f01c17367d</anchor>
      <arglist>(const TwistAcc &amp;a, const TwistAcc &amp;b, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab3fb673008c926b747f12842819fb337</anchor>
      <arglist>(const Twist &amp;a, const TwistAcc &amp;b, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a20ab86ec30519ed0fad9a1d705c829f1</anchor>
      <arglist>(const TwistAcc &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a900aeddeccd431c5cbf0bdd3156d6f35</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afd3e97a38cc7c47e7b6d07e7e0f466a7</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a597c39d91a1081b5442712f1249d6054</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a429b3dde4f39a3d81fb99cac3879d5d2</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a0917bf2a85b30dba6ac3a60131ac0400</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2, double eps=epsilon)</arglist>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a7499a3cd0d3c34bad5a5f844cd9f34e2</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af947e7ffa1e54902b211aebc7d2fbcd3</anchor>
      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2, double eps=epsilon)</arglist>
    </member>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3fc2070f69def825fb20806cc70bdec9</anchor>
      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a31f155d33ef1cc21bc6e69a8c27939a8</anchor>
      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae19cba37b0b3a8f17f2426ef2dde7345</anchor>
      <arglist>(const FrameVel &amp;r1, const FrameVel &amp;r2, double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a99f1283f4b309d0cfa47032764149d79</anchor>
      <arglist>(const Frame &amp;r1, const FrameVel &amp;r2, double eps=epsilon)</arglist>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;r1, const Frame &amp;r2, double eps=epsilon)</arglist>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad72529712b954d065bb8a04c15281be7</anchor>
      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b, double eps=epsilon)</arglist>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Twist &amp;a, const TwistVel &amp;b, double eps=epsilon)</arglist>
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      <type>IMETHOD bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistVel &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afdfb90a1123ea45e6b0e348aff04b230</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, double eps)</arglist>
    </member>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a59ea9aebf2aaa6edfd35375dcbcea546</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, double eps)</arglist>
    </member>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, double eps)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Jacobian &amp;a, const Jacobian &amp;b, double eps)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;a, const Vector &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;a, const Frame &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Twist &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a71af262c34419a6396d37a3939d2281f</anchor>
      <arglist>(const Wrench &amp;a, const Wrench &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation2 &amp;a, const Rotation2 &amp;b, double eps=epsilon)</arglist>
    </member>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a96ca52698b11cbddf3176a4af11bd64b</anchor>
      <arglist>(const Frame2 &amp;a, const Frame2 &amp;b, double eps=epsilon)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation &amp;a, const Rotation &amp;b, double eps)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, double eps)</arglist>
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      <type>bool</type>
      <name>Equal</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b, double eps=epsilon)</arglist>
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      <type>INLINE bool</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1cc2df81152a4a21b53a6b358edc5ec1</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x, double eps=epsilon)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x, double eps=epsilon)</arglist>
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      <type>double</type>
      <name>exp</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a)</arglist>
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      <name>exp</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <name>exp</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>Frame</type>
      <name>framerv</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac63dcc7a106c8c3faf9e4a44fba5938d</anchor>
      <arglist>(const Rotation &amp;r, const Vector &amp;v)</arglist>
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      <type>Frame</type>
      <name>framevr</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;v, const Rotation &amp;r)</arglist>
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      <type>static void</type>
      <name>generatePowers</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a94c4e9f0c4e9790ec33e72003bd13fdc</anchor>
      <arglist>(int n, double x, double *powers)</arglist>
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      <type>double &amp;</type>
      <name>get_container_item</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(KDLType &amp;cont, int index)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const KDLType &amp;cont, int index)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(JntArray &amp;v, int index)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArray &amp;v, int index)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArray &amp;v)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9664f59470c9ff90c4ee0502b34cc7d1</anchor>
      <arglist>(const Rotation &amp;rot, double &amp;x, double &amp;y, double &amp;z, double &amp;w)</arglist>
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      <name>hypot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>hypot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>Rotation</type>
      <name>Inverse</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation &amp;rot)</arglist>
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      <type>Frame</type>
      <name>Inverse</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;f)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const std::string &amp;description)</arglist>
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      <arglist>(std::ostream &amp;os)</arglist>
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      <arglist>()</arglist>
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      <type>void</type>
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      <arglist>(char *buffer, int size)</arglist>
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      <type>Chain</type>
      <name>KukaLWR</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa7a1cb76dad08011ca94f38aa1dbef71</anchor>
      <arglist>()</arglist>
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      <type>Chain</type>
      <name>KukaLWR_DHnew</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a0654087810d42fbfb0b0259216ce3580</anchor>
      <arglist>()</arglist>
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      <type>Chain</type>
      <name>KukaLWRsegment</name>
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      <arglist>()</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Eigen::MatrixXd &amp;A, const Eigen::VectorXd &amp;v, Eigen::MatrixXd &amp;L, Eigen::VectorXd &amp;D, Eigen::VectorXd &amp;vtmp, Eigen::VectorXd &amp;q)</arglist>
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      <type>double</type>
      <name>LinComb</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double alfa, double a, double beta, double b)</arglist>
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      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>LinComb</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall1d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall1d&lt; T, V, S &gt; &amp;b)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>LinComb</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall2d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall2d&lt; T, V, S &gt; &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double alfa, double a, double beta, double b, double &amp;result)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall1d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall1d&lt; T, V, S &gt; &amp;b, Rall1d&lt; T, V, S &gt; &amp;result)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall2d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall2d&lt; T, V, S &gt; &amp;b, Rall2d&lt; T, V, S &gt; &amp;result)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a7329cb36d036ec10bf29b490aff58c7e</anchor>
      <arglist>()</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a88897924631b7ac2065c1cfcf1944360</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>loadRotationTypes</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad761c7a2b60f69ca8c5d3f2617f827a4</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a37de53423da76558228a2220dcaef858</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>loadTwistTypes</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4ff99801dccbbb6470286b2cdb4391c3</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>loadVectorTypes</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3bf0372457d5697d7ad2d501619bca32</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>loadWrenchTypes</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa69a88ca45d366df8fb75ac159f7b019</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa3666e576c08e814a905297a6ecc41f1</anchor>
      <arglist>(double a)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a62718f5f4025f9087934790966678ff9</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a03c16593fdf8bc82c0ef2a41055334ea</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>double</type>
      <name>max</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>adb3f6f67f41bc87f6d98423ac7a5b92f</anchor>
      <arglist>(double a, double b)</arglist>
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      <type>double</type>
      <name>min</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa7c26c4bc57cab66adc41b08110f5948</anchor>
      <arglist>(double a, double b)</arglist>
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      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aecfc62e3d4f3d21b9752669794aac2fb</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3dbaa87cc9453c14a7fd4335ca343c66</anchor>
      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
    </member>
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      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae7a531e845086142255090a67666ec70</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const double &amp;factor, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a65d854aa88f96a677c66b50bc06b54bd</anchor>
      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
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      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1210f7f6f4db1eee2e2c39211c7cb388</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const JntArray &amp;vec, JntArray &amp;dest)</arglist>
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      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab32cb0e76ccfdbc012bbdff485fa2e2c</anchor>
      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a15f89314c4b049945d7e4566b3bb1459</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4b751d3ba37a7ca2ee37b4955b6a1b2c</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>MultiplyJacobian</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac85eca37a300ca3afa534bf3133cd134</anchor>
      <arglist>(const Jacobian &amp;jac, const JntArray &amp;src, Twist &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>Norm</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1ea4c3a83ea51ec60e63e46f23ff7ae2</anchor>
      <arglist>(double arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE S</type>
      <name>Norm</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a04a201d7eeb1d5e1ebcea1d297efe9a4</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>INLINE S</type>
      <name>Norm</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4b8d42bd80ee61a21095edbc1bf8d8d6</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a312b7b900344e2ae17a20876f1df7574</anchor>
      <arglist>(const Frame &amp;a, const Frame &amp;b)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6ae91ebcc5ee2a021fbc153fbc24a01c</anchor>
      <arglist>(const Vector &amp;a, const Vector &amp;b)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aace5ddee5968bf1f3baf1b0e1c6ab050</anchor>
      <arglist>(const Twist &amp;a, const Twist &amp;b)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a640b15a9d707c5a81915064d88f30030</anchor>
      <arglist>(const Wrench &amp;a, const Wrench &amp;b)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af5e1f5dbc48ea49b0872ac949f47003b</anchor>
      <arglist>(const Rotation &amp;a, const Rotation &amp;b)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD bool</type>
      <name>operator!=</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a035cedf046e497717220dd23543c4571</anchor>
      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4164febadd9c9bf7a119cf4223350675</anchor>
      <arglist>(const doubleAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a72c5596a3ca250d8329e774648e9fa91</anchor>
      <arglist>(const TwistVel &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae6a6cf702dd433fb1cd0cd462068380</anchor>
      <arglist>(const Vector2 &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30bd9b19d131e18d55c493a26f69b6b0</anchor>
      <arglist>(const doubleVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a142d0102e854fb2d81285b4be9c77403</anchor>
      <arglist>(const FrameVel &amp;lhs, const FrameVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f74503124b79423fed9b28b20124361</anchor>
      <arglist>(const TwistVel &amp;lhs, const doubleVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a91614778fd903680d9adc02dc4f9f93e</anchor>
      <arglist>(const FrameVel &amp;lhs, const Frame &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afa2370df86529ccb32adb550a6d68f3c</anchor>
      <arglist>(const Frame &amp;lhs, const FrameVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RigidBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>accbcba03cf4c161e16962aa6ede0f71f</anchor>
      <arglist>(double a, const RigidBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>RotationalInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af55f79c3adb61f24af891e0a01b1c9da</anchor>
      <arglist>(double a, const RotationalInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa7100a66f621fadcd96168a97d27784d</anchor>
      <arglist>(double a, const ArticulatedBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aea69709844f7f034d1352c182036b5ac</anchor>
      <arglist>(const RigidBodyInertia &amp;I, const Twist &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9e9d745c14edea95c2ebb5cea42de36f</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RigidBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acbf30c08a930e58f18e6f4b89b4d3fd8</anchor>
      <arglist>(const Frame &amp;T, const RigidBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2fb01a0504479ca09c7bf27e343b8be5</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a32c266cd0cffd38a75c48221ccc25399</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a57e5b07873e812f8d7f94d5ca1acd229</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;I, const Twist &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a524c105fb1973d09ecd5cdede4374810</anchor>
      <arglist>(double r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RigidBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a68dfff80e6489e8c7c208d764a71ccaa</anchor>
      <arglist>(const Rotation &amp;M, const RigidBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aadc7e8ee3d8788b987dc0f0a4c5f67e3</anchor>
      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab60953771d5ef2a0ef08cf7e8266473f</anchor>
      <arglist>(const Frame &amp;T, const ArticulatedBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9cb7bd269eab198b5145a802b20456d7</anchor>
      <arglist>(const doubleAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a33851c818cc9f12974f3cb29ebc74615</anchor>
      <arglist>(double lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaeeb2ef394b9f8e5772d793d9c361530</anchor>
      <arglist>(const Stiffness &amp;s, const Twist &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab5247191df17553320eb1639d901221b</anchor>
      <arglist>(const Vector &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a51ac1ce1dbd62896096448a98e209b96</anchor>
      <arglist>(const VectorAcc &amp;r2, const doubleAcc &amp;r1)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aef01dde4be0f6e8252a1703c16f30bdc</anchor>
      <arglist>(const Rotation &amp;M, const ArticulatedBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a357a1574d4d5fa898fc43df23fea8462</anchor>
      <arglist>(double lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5d7163c16649fa3a642aa848324fe9d4</anchor>
      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>adbe94445d0882c39d30eae3dc0cafe87</anchor>
      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5da7749f16d9ee38bfd37e79a4b4d396</anchor>
      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa3709494d8a02d8757f4b668c452155a</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa9ad476d005ede2a464b048a9b048a96</anchor>
      <arglist>(const Rotation &amp;lhs, const Rotation &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afc6f0d30c6f9d3e92c554585907be39b</anchor>
      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30128ae85ca846c146f1df52ffd18aa8</anchor>
      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2152fae33fee05d9bf23e9aaf5dfbe91</anchor>
      <arglist>(double lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58fadb516d19574d7ac0cb40d1022f3e</anchor>
      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae0ac1e675d2d8e40cba13ea17eb64154</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af4b20aee782ff7944820549428d994d3</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5c7d683679ab9019a65107e128cd6b88</anchor>
      <arglist>(const Wrench &amp;lhs, double rhs)</arglist>
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    <member kind="function">
      <type>Frame</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af3abf2430995a3cc3c688884e9efe156</anchor>
      <arglist>(const Frame &amp;lhs, const Frame &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae2e894b949233d7a44ae28da39fba9b3</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae46db8b8cf405b5faf1a89263296d7de</anchor>
      <arglist>(double lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acf526a38ef0ac580f129e95baef75930</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>addce33b1267ae40397c0868e3494c443</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac63ff44d01eb3515325a5e68632a0411</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2ef790489497475f742e991ac055e870</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aef301ceb31d21ec006c03b3359673b75</anchor>
      <arglist>(const Rotation &amp;R, const VectorAcc &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a99600554d49023bd93514a61abec1bb6</anchor>
      <arglist>(double r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ade558189aadf6828c72bda912c0be10b</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaa72572d20b5e96b3b36b36b99467db4</anchor>
      <arglist>(const VectorVel &amp;r1, double r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae8b5701325d16dc7c9b820e1100cfb4b</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abd858f51b9b11ad399be86cfc8f9e488</anchor>
      <arglist>(const doubleVel &amp;r1, const VectorVel &amp;r2)</arglist>
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    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>add99195f2e34b8ba9680d64463ab237f</anchor>
      <arglist>(const VectorVel &amp;r2, const doubleVel &amp;r1)</arglist>
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    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac87ef443bc4a8a8fcf86551a10b1dbef</anchor>
      <arglist>(const Rotation &amp;R, const VectorVel &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f3979c3069f3d6558fc902a86c380d5</anchor>
      <arglist>(const Twist &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8450a02abf20b80c80e444d29ab5304d</anchor>
      <arglist>(const FrameAcc &amp;lhs, const FrameAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aafe32822da77309b7f5c0260aa926886</anchor>
      <arglist>(const Twist &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a74682143c6c66632244b5e67cccce8c0</anchor>
      <arglist>(double lhs, const Twist &amp;rhs)</arglist>
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    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad315c19f6564614fd6fe4350fa04885b</anchor>
      <arglist>(const FrameAcc &amp;lhs, const Frame &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aec4b7d8ac5c54d65fa070bd6a189fe26</anchor>
      <arglist>(const Frame &amp;lhs, const FrameAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab85c524cf4f6bd5364363dad1ef08ae5</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af8d405e2914bea19aecfc2aac9143375</anchor>
      <arglist>(double lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8b4f64aa851af027829c24d1d9deefd3</anchor>
      <arglist>(const TwistAcc &amp;lhs, const doubleAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Rotation2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae4ddd74aa0ffa153735c9603b51ea06f</anchor>
      <arglist>(const Rotation2 &amp;lhs, const Rotation2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Frame2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a00f0baabdb899f295fb9611e0b724560</anchor>
      <arglist>(const Frame2 &amp;lhs, const Frame2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaab7b9e81b8789337bdbb13d9fd2e4cd</anchor>
      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a75aac327bb8398b72660f8ff603af0a7</anchor>
      <arglist>(const TwistVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac658376e450f37a620b95f4051358fce</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a021feb07a51ec623e769248b1c110cf9</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a698a887bd036f999ead109cb2f29c5e5</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>RotationalInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abe6b8cfeb5c5230d0641585798889a77</anchor>
      <arglist>(const RotationalInertia &amp;Ia, const RotationalInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acab79938e3027d6510cfa4a90720c95f</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a37489ad00a48b8b652eadc65bebd5ad3</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab56265b003752215f2d94c00493e4c21</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RigidBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9a48ecd0ba02c61eb30f97b3606a1d10</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3bc91024ee0a8b23fa94b74fa7c952f0</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae21b94ac92952d16ee509a5a4b8c449</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af14129ba902ec31f692ae97e29c033ef</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>Stiffness</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9c96e2afbe60a8f62893843c08895a35</anchor>
      <arglist>(const Stiffness &amp;s1, const Stiffness &amp;s2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac1f7e351c8fd233adb3ab3a89d344807</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58aec482512a0c59b6c91e937854ca65</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a05ce61116e9eb721ff6ce1a3fbc98a43</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6a8432d8241db0cbee8a256f4b59ef46</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8e7b9ed5c63404773079ae53ee00d200</anchor>
      <arglist>(const Wrench &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac3f53bf66c5fe04eb356b96b38e11033</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a996784b6057419f3a2a8ff6565221ce0</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aea25d0be19e8dccf456c4f8e0e1fe28f</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3e1e5d70194d5577e7e5e7c534f9f877</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa3ab49311febc69235cc75ad7fe81a91</anchor>
      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae19bb99f118f93827bbcfd227651028f</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2c6a1564b16d5a2c26abf5d63eec896e</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a096678f980702ca962d48014abd10945</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa782630b3a6cc0ba2c84b4e030dcddb7</anchor>
      <arglist>(const VectorAcc &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a148a5015338fa55d58b91dc7b9bb9983</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2dfa94ee82b9d4f12d9c4ee2b79a43b6</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1fce4b4a41dfa403b2a47f7950a602a1</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8b9e70a1774fb129e540065eb6b263e3</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a69ffbfb2913176226fa8b23af43b29c6</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a22c094db1c261a306f291f24cd2b3019</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f7dfac4a72e09dd826a191cb7ddd896</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afc467fc7b1ba01dd94296fea19de4d1a</anchor>
      <arglist>(const VectorVel &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afaef0cdb1c85e52616214d0bb599ab11</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afa692e300009c4ac5a03777b777cc129</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a28f9d98ac28883fba27e18723698d59b</anchor>
      <arglist>(const Wrench &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3965521259dda93424d97d2231d1b3fc</anchor>
      <arglist>(const TwistVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a930f40fc3b24eeb1b072e4f8e842fdb6</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a723b0ed6f8e985f802bfe5d06bf645ea</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af56a9af66e83392919871e2781ff6baf</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a78aa25a29bdaa99874ea3fcb128a3553</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a42838c1bd9e803b30a6bd645d150c65c</anchor>
      <arglist>(const Twist &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6dfc6b5efe37c9bbae876578f2b3a361</anchor>
      <arglist>(const Vector &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae749e341f554956882b5656598e11b99</anchor>
      <arglist>(const TwistVel &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1edfde5b35133050a8a1d3a5a7a107af</anchor>
      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae5c4196610ec6b1a316b23f144a75090</anchor>
      <arglist>(const TwistAcc &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>adc332c398dc07420ccff5e6d7ee12209</anchor>
      <arglist>(const Vector2 &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8a95c0c12a9c7d846ac4c2832e03fa6a</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6188e96ab705622696fabc0bd2c120e7</anchor>
      <arglist>(const Wrench &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6414c63b4135a843ebe5a608cb0120a7</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f71bf9fd005cd96217fc323f2da32c9</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9554f1e935042c64beac3e7f945f9101</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a782af317e6d1e7cb312b30ab60c70bd6</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2c10359e471c3cf0dca718798f15d224</anchor>
      <arglist>(const Twist &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a60c791d571a9e7f6f8362715de2e69ce</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a15ebfbcd250b2584e798f4955fc6fcba</anchor>
      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aed451d41bd66dbd33a3feb5acb4b1ebe</anchor>
      <arglist>(const Vector &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a7dd9ddf5cf0ebc37acb08f33c594f89d</anchor>
      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acc761e20a4b8939e7b1fc19509fed229</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaea6ad212ea3f03cf359a6fd0b68d308</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8e4ca54ad9f9b0e5538e4bd3423a87a4</anchor>
      <arglist>(const Wrench &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1688bc7b4ec8112c41ed8f53eaedb472</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5a8dc3166791f85443680b2aaf077ffb</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg, double m)</arglist>
    </member>
    <member kind="function">
      <type>Chain</type>
      <name>Puma560</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaf684fac9a1afae7d61bca2a13a2dae5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>PYTHAG</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a05d58dfdea5e2cb5e49e26d23b7b3328</anchor>
      <arglist>(double a, double b)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a41009801573404ce30ee8e057fb04ef6</anchor>
      <arglist>(Rotation &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aff06e46b989fa6738dd60cf49f6a7ea1</anchor>
      <arglist>(Frame &amp;F)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a19a568accb594b3670bddf2a40a33105</anchor>
      <arglist>(Twist &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab659aefd7a8d246aa4940c712b53b151</anchor>
      <arglist>(Vector &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a255a6a31ee024f0c265366e89129f564</anchor>
      <arglist>(RotationVel &amp;R)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac876b04cb1835696c7e227ba0d37d7e2</anchor>
      <arglist>(double &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acedf7ab3ea2f5f02a51c0509a406ef33</anchor>
      <arglist>(Stiffness &amp;F)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a7a2f7de4c733f4e82af4f8bdd2056fb7</anchor>
      <arglist>(Wrench &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9a9883ce5d4acd8ae15f21dd9efca7e0</anchor>
      <arglist>(Jacobian&lt; T &gt; &amp;rv)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad4bc824b5837adae75f79399bd124804</anchor>
      <arglist>(VectorVel &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1fdb77353c9152acfebd13a454872ba4</anchor>
      <arglist>(TwistVel &amp;a)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30e4eea768db2597e48833327755dc16</anchor>
      <arglist>(FrameVel &amp;F)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>random</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a910caae27c05e168ff9e13c1e1646319</anchor>
      <arglist>(doubleVel &amp;F)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Rotation</type>
      <name>Rot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa2587165b94880d6deaf7fdc5ed5ee06</anchor>
      <arglist>(const Vector &amp;axis_a_b)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>rotationAngleAxis</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a08ed6d842c33e062049455fe639e279c</anchor>
      <arglist>(const Vector &amp;axis, double angle)</arglist>
    </member>
    <member kind="function">
      <type>INLINE void</type>
      <name>SetToIdentity</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aecb4ad606020d5019539920cf1afbc03</anchor>
      <arglist>(Rall2d&lt; T, V, S &gt; &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>INLINE void</type>
      <name>SetToIdentity</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a47a8d2d992187948218d1525aaefc923</anchor>
      <arglist>(Rall1d&lt; T, V, S &gt; &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToIdentity</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6756ce7b540d1a6f3e74019bc73642cf</anchor>
      <arglist>(double &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac3750480c481eea276696d3bc4f863cc</anchor>
      <arglist>(Vector &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad8485aa6cdef7323e5139e7197307670</anchor>
      <arglist>(Twist &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aeb3832c7f7dbbb0276a3444dd6d64c4d</anchor>
      <arglist>(Wrench &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8299e9971a3f1996d8fd79cdf29fd8d9</anchor>
      <arglist>(Vector2 &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3f23dc88eba26d540cf728e9e0dd85aa</anchor>
      <arglist>(TwistVel &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3dd6492d65329fce08a49950b28256ee</anchor>
      <arglist>(JntSpaceInertiaMatrix &amp;mat)</arglist>
    </member>
    <member kind="function">
      <type>INLINE void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae33b889bf3ebfc8b2124a4e9b7e3176d</anchor>
      <arglist>(Rall1d&lt; T, V, S &gt; &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2f3640f68421949e70b00b7850917ebe</anchor>
      <arglist>(JntArray &amp;array)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af728f5fb88f6dfdca91afeae2d036d75</anchor>
      <arglist>(JntArrayVel &amp;array)</arglist>
    </member>
    <member kind="function">
      <type>INLINE void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3a66a9767257c9a79eadcba0367a8ddf</anchor>
      <arglist>(Rall2d&lt; T, V, S &gt; &amp;value)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a11a7cb9d8b92e0170f7bbfa76b378704</anchor>
      <arglist>(JntArrayAcc &amp;array)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa2015ef4bf3ebb5f6defaf8bc1cf5184</anchor>
      <arglist>(Jacobian &amp;jac)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a35f7ca17400933ea6775b76bc2d96f94</anchor>
      <arglist>(double &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetToZero</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae68e666e68770d71ad4051e0274dc33c</anchor>
      <arglist>(VectorVel &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sign</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a26d8ca57d3f08fc3ae0c00b3fc7b2d94</anchor>
      <arglist>(double arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>SIGN</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad2be3f0ee76cde337e1ad2f047bce434</anchor>
      <arglist>(double a, double b)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>sin</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad75e917c4141823627a64b5cfc912eda</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>sin</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aec3b56df50f199741cf7f2eaf6187051</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sin</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a83eeaaa67bf4c15196b7ca7b44a8ebf1</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>sinh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1c9ec321012adc09c9aa66b03d06545b</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>sinh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa154e163f0597be89a5ae4e4db4fbfc0</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sinh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a0d650809e1cc8fb0b490a330c8ee3501</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>sqr</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af1b48945aeed7c276806449802481a08</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sqr</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a807ad524ab1bc63cf7f30e34e8f379e8</anchor>
      <arglist>(double arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>sqr</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaa4bd8cc4cbf315b38a11542634bd4d8</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sqrt</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4c17e5a3698f4fd73e13958436629801</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>sqrt</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa6caeaeca2777225cf1f09355e286d27</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>sqrt</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a41c73e4ca2b95ea025688ac60ffc1d42</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac44746c206c669411831b6caff88e421</anchor>
      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, JntArray &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9bac2127ca5bdf3e32005ba6c4b6e7ce</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArray &amp;src2, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad7871e05e7ecc703e39a9256dbc3ea4c</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, JntSpaceInertiaMatrix &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aadbca4bf9398d905195352bb15fffb06</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArray &amp;src2, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a11d30225535a30ab654b8709f63e01f3</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a0c8b3f55e1a6fb791e14bcb8e0b5e9d4</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayVel &amp;src2, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Subtract</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae4d61bfbf31b933f7843f71328966e85</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>svd_eigen_HH</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa65086d19c5309a3457bc223ee5080e4</anchor>
      <arglist>(const MatrixXd &amp;A, MatrixXd &amp;U, VectorXd &amp;S, MatrixXd &amp;V, VectorXd &amp;tmp, int maxiter, double epsilon)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>svd_eigen_Macie</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af28a74f47b0a127fca70b28321f8b204</anchor>
      <arglist>(const MatrixXd &amp;A, MatrixXd &amp;U, VectorXd &amp;S, MatrixXd &amp;V, MatrixXd &amp;B, VectorXd &amp;tempi, double threshold, bool toggle)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>swap</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8d333b9b7dd404a61e9a28d18cf9b798</anchor>
      <arglist>(scoped_ptr&lt; T &gt; &amp;, scoped_ptr&lt; T &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>tan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a937d2213d891795af2a5e491cccd5350</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>tan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4745e37091ce2f99620a8f655b689d5b</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>tan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae2a9f81586eda282e1a1ffe9e6d2c4b4</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>tanh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a88109e831bec435e602116a20afdd728</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>tanh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a66e2106429c51143468bd90e27f576fc</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>tanh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1081ccc535a2243f01697c71350f3886</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Twist_to_Eigen</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad99081b5fff0a9d43dfc07a3f64ee714</anchor>
      <arglist>(const KDL::Twist &amp;t, Eigen::MatrixBase&lt; Derived &gt; &amp;e)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>twistvw</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a13ed080d0d02cbc6ea41ef2a9eeb935a</anchor>
      <arglist>(const Vector &amp;trans, const Vector &amp;rot)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>vectorxyz</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a0e4d3dacc57a3588422d70b39d41602f</anchor>
      <arglist>(double a, double b, double c)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>wrenchft</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6b662ee128e5d199737b6218d1666c40</anchor>
      <arglist>(const Vector &amp;force, const Vector &amp;torque)</arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>deg2rad</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a13e35fb20991715e2e62f926f50d32ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>epsilon</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad69840ad33dc4985798237acfd5fd048</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>KDLTypekitPlugin</type>
      <name>KDLTypekit</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae7f7ce454f5689b4a1a0a863ef2676b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>L0</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a35956496bbd1a2ca3a5c7e66f58b20b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>L1</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac1c8ba5dc96829d42bbcbd9acc918845</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>L2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af4cea78cef6b19a2fd7c5cfa8277e390</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>L3</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acd4cd01f70c4e54086741eb7c0deb458</anchor>
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