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      <anchor>ae4b89be063a120fa79778b9b91b19371</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>add</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>aff84031d272d4c969671949d0cfb7c75</anchor>
      <arglist>(::hpp::core_idl::ConfigValidation_ptr validation)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>numberConfigValidations</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>a2eff7f0e8a6ce70550f14f2c6a816a57</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clear</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>a3100b2a63dda268c6c6bd558e5fd50a1</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMargins</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>afaf77ffea0a60369199a616f1912a409</anchor>
      <arglist>(const ::hpp::floatSeqSeq &amp;margins)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMarginBetweenBodies</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>a48b2c7013dbb02c25b9ce0a2a1e488f7</anchor>
      <arglist>(const char *body_a, const char *body_b, ::hpp::value_type margin)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>filterCollisionPairs</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>a5642d7721b3ce7e224d0fd6fbaa088b4</anchor>
      <arglist>(const ::hpp::core_idl::RelativeMotionMatrix &amp;relMotion)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__ConfigValidations.html</anchorfile>
      <anchor>a4085c58e6b1feebf3841fcea08f28f0d</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_ConnectedComponent</name>
    <filename>class__impl__ConnectedComponent.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_ConnectedComponent</name>
      <anchorfile>class__impl__ConnectedComponent.html</anchorfile>
      <anchor>aaa3b0cbcb104f28c7dd102bfc762a0de</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__ConnectedComponent.html</anchorfile>
      <anchor>a9766febb24cc3e869efeafbf4938aaf3</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__ConnectedComponent.html</anchorfile>
      <anchor>ae1a867c86a2e972280db03634afbc4b5</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__ConnectedComponent.html</anchorfile>
      <anchor>afbde915dea5210d44013f0e229cb63f0</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>nodes</name>
      <anchorfile>class__impl__ConnectedComponent.html</anchorfile>
      <anchor>a064334b5eb748a436dd26d5460581088</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__ConnectedComponent.html</anchorfile>
      <anchor>ac7ac8e969b2c753cef3d09d463bf5556</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_Constraint</name>
    <filename>class__impl__Constraint.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Constraint</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a55efeb99cdb54eb5ccb2d80f7652c289</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a35b7043cf969c38b8dabc25411dd2992</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>afd453cff74c651c4d28113cc484e4041</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a9299b693b770ea2e9bdb4e9bc51b4a7b</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>apply</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>ae32593cf3e4da671eefdcf99ae5d6a77</anchor>
      <arglist>(::hpp::floatSeq &amp;config)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>name</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a97aff1faa62412abc0137ced6319f3c6</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>str</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a28b6d5e3f4551aba794a5640e017eb42</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>isSatisfied</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>ad7dd4ae9cff55d6afeb7a1a813644bd8</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Constraint_ptr</type>
      <name>copy</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a971a04c3918adf9c9a4296acbedbbabc</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Constraint.html</anchorfile>
      <anchor>a33777cad80671d95cae263066fc0be91</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_ConstraintSet</name>
    <filename>class__impl__ConstraintSet.html</filename>
    <base virtualness="virtual">_impl_Constraint</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_ConstraintSet</name>
      <anchorfile>class__impl__ConstraintSet.html</anchorfile>
      <anchor>a41ba40a9f7f6585bc0a494eab09bdec3</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Constraint_ptr</type>
      <name>getConfigProjector</name>
      <anchorfile>class__impl__ConstraintSet.html</anchorfile>
      <anchor>ad5c5e6a9bc99dfb20c9ff994aed9dd1c</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addConstraint</name>
      <anchorfile>class__impl__ConstraintSet.html</anchorfile>
      <anchor>ab535c7017eb9d368cbb40eaa4c6e5dd9</anchor>
      <arglist>(::hpp::core_idl::Constraint_ptr a_constraint)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__ConstraintSet.html</anchorfile>
      <anchor>ade0d07133be4a041c115c5b0d02103a2</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_ContinuousValidation</name>
    <filename>class__impl__ContinuousValidation.html</filename>
    <base virtualness="virtual">_impl_PathValidation</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_ContinuousValidation</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>a9e759132ddf47ec68ba6d8f70e92ae23</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMargins</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>a996f63ee59146a4b1f638851a5d168da</anchor>
      <arglist>(const ::hpp::floatSeqSeq &amp;margins)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMarginBetweenBodies</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>a97706a938c84eaf5adc9a3d331cb52fb</anchor>
      <arglist>(const char *body_a, const char *body_b, ::hpp::value_type margin)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>filterCollisionPairs</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>a90b35c177d7b4150f5f69f24e1c40abd</anchor>
      <arglist>(const ::hpp::core_idl::RelativeMotionMatrix &amp;relMotion)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setBreakDistance</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>ad2f5539cb9c1b75a148031593ec10b87</anchor>
      <arglist>(::hpp::value_type breakDistance)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual value_type</type>
      <name>getBreakDistance</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>a30050eddff1b502189cb621aa0466179</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__ContinuousValidation.html</anchorfile>
      <anchor>a034ac539cce99b171fb1aea6dfb7a650</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_Device</name>
    <filename>class__impl__Device.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Device</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a58a5f7c202ad4d980b735849825d2b1d</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a4add2c580f35bad5cea0bcd855757fa8</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a3ae16a238531013a7d81a7f50dcbd3c7</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a048d53b69ed4676ba5105e03a1c4077d</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>name</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>adf53a589392dabe79b871534552f0359</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>neutralConfiguration</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a98e181e827104a9e5874def47061b283</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>configSize</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a88f4175f10098a9682c46e7c4b5f63fa</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>numberDof</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a31324ff066cdd2ed66917916b5831796</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>integrate</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a9a92311b6053d7cb669df6c09bbd0015</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config_in, const ::hpp::floatSeq &amp;velocity, ::hpp::floatSeq_out result)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>difference</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>ac38ffbb516124c220fa6f6f92e9d7f32</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::floatSeq &amp;q2, ::hpp::floatSeq_out result)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>interpolate</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>aa774d8d613f01aeeb9e566ea479e2170</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::floatSeq &amp;q2, ::CORBA::Float u, ::hpp::floatSeq_out result)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>saturate</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a8de89c3b0f21056a8f43b4e86749e633</anchor>
      <arglist>(const ::hpp::floatSeq &amp;qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>replaceGeometryByConvexHull</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a11f77d724a16f00a963b6d1df7f53c80</anchor>
      <arglist>(const ::hpp::Names_t &amp;geometryNames)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCurrentConfiguration</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a3c9ef69eda444f2f891ecb99830b7327</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>setCurrentConfiguration</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>afe5ac3e485f350f251fc61b7618969b2</anchor>
      <arglist>(const ::hpp::floatSeq &amp;configuration)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCurrentVelocity</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a16988e9edc5f12b0776dcc668b9de010</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>setCurrentVelocity</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>ace93a836a5138db79b8a487a759f544d</anchor>
      <arglist>(const ::hpp::floatSeq &amp;velocity)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCurrentAcceleration</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>ad4f63dd1608ae3723f3f1161dc62afd9</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>setCurrentAcceleration</name>
      <anchorfile>class__impl__Device.html</anchorfile>
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      <arglist>(const ::hpp::floatSeq &amp;acceleration)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Short</type>
      <name>computationFlag</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a4264498a7e0acdedf70abb4de32ae0ff</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>controlComputation</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>abb5bb05412f3eac0976e658a0b87bef7</anchor>
      <arglist>(::CORBA::Short flag)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>computeForwardKinematics</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>ae1f23bd2be8e49aecc484d6894059902</anchor>
      <arglist>(::CORBA::Short computationFlag)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>computeFramesForwardKinematics</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>ac05da9296a034aa56705bcfd5c70f555</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>updateGeometryPlacements</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a5a55567c0feb589c5a3c60fd05b1ee3d</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual frame_index</type>
      <name>getFrameByName</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a84b57c677c9feaf921583a1bd40bec0b</anchor>
      <arglist>(const char *name)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Transform__slice *</type>
      <name>getFramePosition</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a7906fba160f58c2c72a1d2eef174388b</anchor>
      <arglist>(::hpp::frame_index frame_id)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>getFrameJacobian</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>aa4d4183828230a6a3d5842b67e9f808b</anchor>
      <arglist>(::hpp::frame_index frame_id)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>removeJoints</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>abed2688addf01ebf8c8a8d81a682b1b8</anchor>
      <arglist>(const ::hpp::Names_t &amp;joints, const ::hpp::floatSeq &amp;refConfig)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Device.html</anchorfile>
      <anchor>a2a4e022007d160cb920b95e9860e816a</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_DifferentiableFunction</name>
    <filename>class__impl__DifferentiableFunction.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_DifferentiableFunction</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a48e42a227fafc5ecf4db967334123528</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>value</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a4c9e868f3068e4ebbfb042ebfd1ad039</anchor>
      <arglist>(const ::hpp::floatSeq &amp;arg)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>jacobian</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a088ffc2a9bc95b0d1b724313747540b1</anchor>
      <arglist>(const ::hpp::floatSeq &amp;arg)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>inputSize</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>aec8e9da9e1cab5b622b77a251111b658</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>inputDerivativeSize</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a6821e29d7af24a4f6d104b66724e8473</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>outputSize</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>ab8d3e9de29e0a7194c5dffe9f3cd26d7</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>outputDerivativeSize</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a0e603e839bee3f46d274ca782f0a044e</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>name</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a3fd09a7eff917bed848e631401357c64</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>str</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>a2dfb27557ad5482ee78735632d1bf035</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__DifferentiableFunction.html</anchorfile>
      <anchor>aa1faf6bdd91632bf53203b92a893eae5</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Discretized</name>
    <filename>class__impl__Discretized.html</filename>
    <base virtualness="virtual">_impl_PathValidation</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Discretized</name>
      <anchorfile>class__impl__Discretized.html</anchorfile>
      <anchor>a2291863f80f1717954eeca4bdff699db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMargins</name>
      <anchorfile>class__impl__Discretized.html</anchorfile>
      <anchor>ac6ca46822b628f1bc39c71eaeb226161</anchor>
      <arglist>(const ::hpp::floatSeqSeq &amp;margins)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMarginBetweenBodies</name>
      <anchorfile>class__impl__Discretized.html</anchorfile>
      <anchor>a1e2157433000db316827f4aa17316d16</anchor>
      <arglist>(const char *body_a, const char *body_b, ::hpp::value_type margin)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>filterCollisionPairs</name>
      <anchorfile>class__impl__Discretized.html</anchorfile>
      <anchor>a29aed9a7ba2cb5714bf8bb7deca927f4</anchor>
      <arglist>(const ::hpp::core_idl::RelativeMotionMatrix &amp;relMotion)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Discretized.html</anchorfile>
      <anchor>a10ec6ce2e5e0e6f636d46d070128a7fc</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Distance</name>
    <filename>class__impl__Distance.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Distance</name>
      <anchorfile>class__impl__Distance.html</anchorfile>
      <anchor>ad5b687fb6e9bcccfc9115e11750f1daa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__Distance.html</anchorfile>
      <anchor>aaf092ad9cc467a2271947c6bd05c92d4</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__Distance.html</anchorfile>
      <anchor>a8bfcb71262bdc91a6055d195471e49c0</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__Distance.html</anchorfile>
      <anchor>abdd82d6746518b0c48abe42bc5fa76dd</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual value_type</type>
      <name>call</name>
      <anchorfile>class__impl__Distance.html</anchorfile>
      <anchor>a6adb2e9d7e7be188029c437c6222df99</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::floatSeq &amp;q2)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Distance.html</anchorfile>
      <anchor>a10b9219ba9ed219f2ee29fa639b2c335</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Gaussian</name>
    <filename>class__impl__Gaussian.html</filename>
    <base virtualness="virtual">_impl_ConfigurationShooter</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Gaussian</name>
      <anchorfile>class__impl__Gaussian.html</anchorfile>
      <anchor>ab4253bd830c27f9e918460d2a18304ee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setCenter</name>
      <anchorfile>class__impl__Gaussian.html</anchorfile>
      <anchor>a7e7dc791ba94b73667bac015a033ffca</anchor>
      <arglist>(const ::hpp::floatSeq &amp;c)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCenter</name>
      <anchorfile>class__impl__Gaussian.html</anchorfile>
      <anchor>acc7e771405e3cc07ff4077d463ff7391</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getSigmas</name>
      <anchorfile>class__impl__Gaussian.html</anchorfile>
      <anchor>ad5b869932af7c8e56254eb6d0c4fa49a</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSigmas</name>
      <anchorfile>class__impl__Gaussian.html</anchorfile>
      <anchor>a494e3c11ec58260b7dbb93e1ce7acae2</anchor>
      <arglist>(const ::hpp::floatSeq &amp;s)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Gaussian.html</anchorfile>
      <anchor>abfca073223696a87accac5894eea7096</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
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  <compound kind="class">
    <name>_impl_Hermite</name>
    <filename>class__impl__Hermite.html</filename>
    <base virtualness="virtual">_impl_Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Hermite</name>
      <anchorfile>class__impl__Hermite.html</anchorfile>
      <anchor>a2b16240288b1ec3839e2f59d916312fc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Hermite.html</anchorfile>
      <anchor>a4fdca299bbde929df1ea8a3226f56d33</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Implicit</name>
    <filename>class__impl__Implicit.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Implicit</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>a23195ed9a8c8089f846c26a48c40eeb2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual DifferentiableFunction_ptr</type>
      <name>function</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>aaacc52a0fbf53fde0c9c354dc258ff19</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>rightHandSideSize</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>a54f79b26a5fa69dd834d70a99cb968c1</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>parameterSize</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>ac9e98116f240dce613e3b614c7789bed</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>rightHandSideAt</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>a25ca9ef87b6112b33c151f80f330ef4f</anchor>
      <arglist>(::hpp::value_type s)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ComparisonTypes_t *</type>
      <name>getComparisonType</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>afdfab4f64565a8adc059000029badc04</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setComparisonType</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>ab11a8d4d99fa1533d13332ba00893cf2</anchor>
      <arglist>(const ::hpp::ComparisonTypes_t &amp;compType)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Implicit.html</anchorfile>
      <anchor>a5600ed16b55f7b42240a867e3fb5a487</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_LockedJoint</name>
    <filename>class__impl__LockedJoint.html</filename>
    <base virtualness="virtual">_impl_Implicit</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_LockedJoint</name>
      <anchorfile>class__impl__LockedJoint.html</anchorfile>
      <anchor>a5189167125607c0f91c8b588bbdb4c15</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>jointName</name>
      <anchorfile>class__impl__LockedJoint.html</anchorfile>
      <anchor>adc24a9773a648d81d8d22ee942bba13e</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__LockedJoint.html</anchorfile>
      <anchor>a8aec446dbd978c6754713def83d726b3</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Obstacle</name>
    <filename>class__impl__Obstacle.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Obstacle</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a49df8942413b84c9a06cd53b1fb894ea</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadObstacleModel</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>abfc3cb758ee78f765b4c0073192facda</anchor>
      <arglist>(const char *filename, const char *prefix)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadPolyhedron</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a411c54bafbfab24ed911c6c4f0738403</anchor>
      <arglist>(const char *obstacleName, const char *filename)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadObstacleModelFromString</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a0015cbd0c8767e7e5efc8caf77dccc4f</anchor>
      <arglist>(const char *urdfString, const char *prefix)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadPointCloudFromFilename</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>aed0651cf582fef98e9fe949a801d5ea9</anchor>
      <arglist>(const char *objectName, const char *filename)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadPointCloudFromPoints</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a4b93931dd000d93b87f3a4663c848435</anchor>
      <arglist>(const char *objectName, ::CORBA::Double resolution, const ::hpp::floatSeqSeq &amp;points)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>removeObstacle</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a956fd303b00370533c7112fe8667eac7</anchor>
      <arglist>(const char *objectName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>removeObstacleFromJoint</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a3cb62e9458171b361ca7f7f740adabf9</anchor>
      <arglist>(const char *objectName, const char *jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>cutObstacle</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a9ee97b02d16209c136bdad08b2a8e9ca</anchor>
      <arglist>(const char *objectName, const ::hpp::floatSeq &amp;aabb)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addObstacle</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a8c20865af5f5646e3c20879805fdc079</anchor>
      <arglist>(const char *objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>moveObstacle</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>ac087a5a62b04f9c090ad3a5c58574b4a</anchor>
      <arglist>(const char *objectName, const ::hpp::Transform_ cfg)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getObstaclePosition</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a36387746e56e7e8836f3f06bd526e00b</anchor>
      <arglist>(const char *objectName, ::hpp::Transform_ cfg)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getObstacleNames</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>adc58cad82efe8f6e64dfe027e863c09e</anchor>
      <arglist>(::CORBA::Boolean collision, ::CORBA::Boolean distance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createPolyhedron</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a5b75e47ddbb433c65137f891d3273d9f</anchor>
      <arglist>(const char *polyName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createBox</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a8677212fa1d4af5f9a09ea2dd4c886c6</anchor>
      <arglist>(const char *inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createSphere</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>ac26fdfa5dacd3221d9eaeb96ca9e8f54</anchor>
      <arglist>(const char *name, ::CORBA::Double radius)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createCylinder</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>ae887a1ddb543e204959a6775348d4ddf</anchor>
      <arglist>(const char *name, ::CORBA::Double radius, ::CORBA::Double length)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>addPoint</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>ae43244070808b28013b7fc6f853908ec</anchor>
      <arglist>(const char *polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>addTriangle</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>acd0a8e01901aed86d56f824258d695bb</anchor>
      <arglist>(const char *polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Obstacle.html</anchorfile>
      <anchor>a1775cc0ef8ad0c9e038b6c8171b18428</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Path</name>
    <filename>class__impl__Path.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Path</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a53809cc0799afc31617d1e412f4037be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>aec0f8341e823858427f93a634227639b</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a512421fc828acbf3fac247f4d4d592a4</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>af7b6b758c30cf42932906cb339995912</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>outputSize</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a2df76b369b9f402257371d5175d78342</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>outputDerivativeSize</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a081f6fd36c6946d937f53ff3c4db5a79</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual value_type</type>
      <name>length</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a5139f78d3e09ad3f96823e974ced9a4f</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>initial</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a4df5ed9d4538e0bf83873d9d8abbe77e</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>end</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a75589315b639bcf0d612ce1fc72a2282</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ConstraintSet_ptr</type>
      <name>constraints</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a9a80064bebb98df692cb199a19fc16a2</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>str</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a29749c1f2db173a6b97ef6c1898de14e</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>call</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>af53bfc4d6b8105a52cdb4f452d5f5c36</anchor>
      <arglist>(::hpp::value_type t, ::CORBA::Boolean &amp;success)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>at</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a806d040f24baa94e24f606335301f636</anchor>
      <arglist>(::hpp::value_type t, ::CORBA::Boolean &amp;success)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>derivative</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>afba26dab1105d7db27ab015aebacd8f5</anchor>
      <arglist>(::hpp::value_type t, ::CORBA::Short order)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>extract</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>aa059bb76350371a087276a4be5fe57e5</anchor>
      <arglist>(::hpp::value_type tmin, ::hpp::value_type tmax)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual PathVector_ptr</type>
      <name>asVector</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>aa014c9f1873329ff499a9842c8a3464f</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>reverse</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a189360bf9d394ed9b021bcfde8c1f0e1</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Path.html</anchorfile>
      <anchor>a3961a818200bfdbeabed8873bf5c43d5</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_PathOptimizer</name>
    <filename>class__impl__PathOptimizer.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_PathOptimizer</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>a20e800601aae4c48e9e60f4769c20c69</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>aad0fd758f1206e7c3375bf888d46e031</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>ad351053defc800258dcebe38268bce90</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>a6e6aa8a4ffc9c339b79446e9907a53da</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual PathVector_ptr</type>
      <name>optimize</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>a0cbe26f023fa4649cee8d7ced2df2610</anchor>
      <arglist>(::hpp::core_idl::PathVector_ptr path)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>interrupt</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>a3b8d7eee72b97320be051695872e9375</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>maxIterations</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>aa2f001ba376cce41f7019118f0c1866b</anchor>
      <arglist>(::hpp::size_type n)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>timeOut</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>ace820843b86b08f21d0f38039badd66b</anchor>
      <arglist>(::hpp::value_type seconds)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__PathOptimizer.html</anchorfile>
      <anchor>a286033384979378220beef6de0a2b6f2</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_PathPlanner</name>
    <filename>class__impl__PathPlanner.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_PathPlanner</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a5163de58dd7f278bbf8ddf148c6aa891</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a83e0c15817505d9a23fa8776a8affc70</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>ab827acd286827f732c02f8015f6a0bb6</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a08b2264eeb9f7bf54086a487e9f0b663</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual PathVector_ptr</type>
      <name>solve</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a5a3ab6f4109825ac17f51c04560d3439</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>startSolve</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>ae124b4be95f3ba555e59ed663adf0dee</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>tryConnectInitAndGoals</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a1d2d7884be612f80d9dcbf26fd6838c7</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>oneStep</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>aa7ef17c40a23cf7705565e573c981ef1</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual PathVector_ptr</type>
      <name>computePath</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a8b5bfb01bd2c05a3be2ad8cb0acc713a</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual PathVector_ptr</type>
      <name>finishSolve</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a717c58babf838a5e185fca3390af33c2</anchor>
      <arglist>(::hpp::core_idl::PathVector_ptr path)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>interrupt</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>aeefacd082bd4da411da9f842c53fd75f</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>maxIterations</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a3259f2315bbf89ca9b8dd1b627f8742e</anchor>
      <arglist>(::hpp::size_type n)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>timeOut</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a380c4d7f9d6f6957b51a503e9920a3c4</anchor>
      <arglist>(::hpp::value_type seconds)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Roadmap_ptr</type>
      <name>getRoadmap</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>ac6c28b12c6b529a9d6db0d3bc47b42e7</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>stopWhenProblemIsSolved</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a2b756e45ec3f9d3e485604c1769d2a4e</anchor>
      <arglist>(::CORBA::Boolean enable)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__PathPlanner.html</anchorfile>
      <anchor>a554a21774eefa394f3e28186349aacc4</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_PathProjector</name>
    <filename>class__impl__PathProjector.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_PathProjector</name>
      <anchorfile>class__impl__PathProjector.html</anchorfile>
      <anchor>a7199cbaac2e6178722b4eef9fb1993d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__PathProjector.html</anchorfile>
      <anchor>a25572293c487d4e371f8c91c9ebad2a9</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__PathProjector.html</anchorfile>
      <anchor>aaacacb59abc39beca7c6e46cff70deb6</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__PathProjector.html</anchorfile>
      <anchor>a4f5789fc096d6a1b494f6dfbc7f35bb7</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>apply</name>
      <anchorfile>class__impl__PathProjector.html</anchorfile>
      <anchor>a1e7baa8cc6e8847da89da626fff23d77</anchor>
      <arglist>(::hpp::core_idl::Path_ptr input, ::CORBA::Boolean &amp;success)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__PathProjector.html</anchorfile>
      <anchor>a25a32a3496ae4b0cc2c6f3adc9418ed3</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_PathValidation</name>
    <filename>class__impl__PathValidation.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_PathValidation</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>a269f58582e2da8b5258f07cc311dc2ca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>a99e0532cf9c3bf2fb7bcdef554deb90b</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>a2b1da1dbc2b08e80ce5b9794d34e0e38</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>a2c08cb2c610a948f99c1754aa1ed1d5c</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>validate</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>a84b1aa29a2fc7dcc8530ffbe9f2fb11b</anchor>
      <arglist>(::hpp::core_idl::Path_ptr p, ::CORBA::Boolean reverse, ::hpp::core_idl::Path_out validPart, ::hpp::core_idl::PathValidationReport_out report)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>validateConfiguration</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>a5f6bb99625e16cd33629e38b459ea24e</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config, ::hpp::core_idl::ValidationReport_out report)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__PathValidation.html</anchorfile>
      <anchor>af7c0f6dd5ded9f36e8bd0273b7b88e9e</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_PathValidations</name>
    <filename>class__impl__PathValidations.html</filename>
    <base virtualness="virtual">_impl_PathValidation</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_PathValidations</name>
      <anchorfile>class__impl__PathValidations.html</anchorfile>
      <anchor>aef0549ed123594fe389dd4a040603dfa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMargins</name>
      <anchorfile>class__impl__PathValidations.html</anchorfile>
      <anchor>ac086d761477e56fcffb708f9879d8a78</anchor>
      <arglist>(const ::hpp::floatSeqSeq &amp;margins)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMarginBetweenBodies</name>
      <anchorfile>class__impl__PathValidations.html</anchorfile>
      <anchor>acc15fc1edebe4c8ff667b0c19f344abf</anchor>
      <arglist>(const char *body_a, const char *body_b, ::hpp::value_type margin)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>filterCollisionPairs</name>
      <anchorfile>class__impl__PathValidations.html</anchorfile>
      <anchor>a558ee924fc77abe44642cd8cd6d778a1</anchor>
      <arglist>(const ::hpp::core_idl::RelativeMotionMatrix &amp;relMotion)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__PathValidations.html</anchorfile>
      <anchor>ade4a07a61b7acd65edba909d2e3928eb</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_PathVector</name>
    <filename>class__impl__PathVector.html</filename>
    <base virtualness="virtual">_impl_Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_PathVector</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>a25764ad8e90c851fb4e6c5d9c05fd68f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>numberPaths</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>a21952dd46c94ead2b0879dd815003864</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>rankAtParam</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>aeb3350f6506336846d93f54ee0a2b364</anchor>
      <arglist>(::hpp::value_type param, ::hpp::value_type &amp;localParam)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>pathAtRank</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>a5efea2aa9573ac3db715165ae68cc2fa</anchor>
      <arglist>(::hpp::core_idl::size_t rank)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>appendPath</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>a3774eed4b8ed6f37d456406c433178d9</anchor>
      <arglist>(::hpp::core_idl::Path_ptr p)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>concatenate</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>ac293c38a467f84c620442e00ec1617e6</anchor>
      <arglist>(::hpp::core_idl::PathVector_ptr p)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual PathVector_ptr</type>
      <name>flatten</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>a7cec794b69f5a1179e165de82a0986e5</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__PathVector.html</anchorfile>
      <anchor>a4b4b9a6dfe9dceb8af7b09f510032c21</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Problem</name>
    <filename>class__impl__Problem.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Problem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a57ef6cbdf14699a441a0e0866365e62c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRandomSeed</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae4e882b9bfd3dfb5f16c5136a2cd782a</anchor>
      <arglist>(::CORBA::Long seed)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setMaxNumThreads</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>afd30635516b16a95869a5ab2fb1e9d52</anchor>
      <arglist>(::CORBA::UShort n)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::UShort</type>
      <name>getMaxNumThreads</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a85fb98c0cfe24ffd4419d2926d3781d5</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getAvailable</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>afb2a5c1aac5f89191bb11bd117730a08</anchor>
      <arglist>(const char *type)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getSelected</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a2da9cec5c54a7b928f074d4eaf364d2b</anchor>
      <arglist>(const char *type)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setParameter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a79e5cddc62d402b06557c399ddbe83b5</anchor>
      <arglist>(const char *name, const ::CORBA::Any &amp;value)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Any *</type>
      <name>getParameter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a42dc7f7670a79661243687cad193048b</anchor>
      <arglist>(const char *name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>getParameterDoc</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a8b5cdce862e8433ebff57259d4e2d3da</anchor>
      <arglist>(const char *name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>selectProblem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a4ad258a2090a861e352b071c14cd9675</anchor>
      <arglist>(const char *name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resetProblem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a0caed79ae8a52523f6fa186994a3f582</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>loadPlugin</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a8f0898d5245ffec62f1ac9cb05d965ef</anchor>
      <arglist>(const char *pluginName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>movePathToProblem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a682067be0d86a0219c7b02ce120d18cf</anchor>
      <arglist>(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &amp;jointNames)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setInitialConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>adcf78d4e2b9f7edc61bb958a4d75df33</anchor>
      <arglist>(const ::hpp::floatSeq &amp;dofArray)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getInitialConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae5dcf5af342c80c7190427dd192ace67</anchor>
      <arglist>()=0</arglist>
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      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const ::hpp::floatSeq &amp;dofArray)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>getGoalConfigs</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a3d060b0b4cf2d18d9627304b2fddcbbc</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resetGoalConfigs</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a4d67ee6c24557345da59eac531c8b3de</anchor>
      <arglist>()=0</arglist>
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      <type>virtual void</type>
      <name>setGoalConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a3632fdd06197428da246ea59e662fc56</anchor>
      <arglist>(const ::hpp::Names_t &amp;constraints)=0</arglist>
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      <type>virtual void</type>
      <name>resetGoalConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>()=0</arglist>
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      <type>virtual ::CORBA::Boolean</type>
      <name>applyConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const ::hpp::floatSeq &amp;input, ::hpp::floatSeq_out output, ::CORBA::Double &amp;residualError)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>optimize</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const ::hpp::floatSeq &amp;input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>computeValueAndJacobian</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const ::hpp::floatSeq &amp;config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>generateValidConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &amp;residualError)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createOrientationConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &amp;mask)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createTransformationConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>afeac29efb593a08aa81276b819351526</anchor>
      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &amp;mask)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createTransformationR3xSO3Constraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a6759926df15db832a420272a0a1e6d58</anchor>
      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &amp;mask)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createTransformationConstraint2</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>acc587edf95c482443eac9c8d075838e0</anchor>
      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &amp;mask)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createLockedJoint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &amp;value)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createLockedJointWithComp</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a37c4e42b709c2079b88e0e84352b3222</anchor>
      <arglist>(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &amp;value, const ::hpp::ComparisonTypes_t &amp;comp)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createLockedExtraDof</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a261e6c5d4e4e1b4fed686d0e94853ff4</anchor>
      <arglist>(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &amp;value)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createManipulability</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a63c9889da779085fa02fecbb464b6d18</anchor>
      <arglist>(const char *name, const char *function)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createComBeetweenFeet</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad599089a8c7224702cf6cf1d30c7b624</anchor>
      <arglist>(const char *constraintName, const char *comName, const char *jointLName, const char *jointRName, const ::hpp::floatSeq &amp;pointL, const ::hpp::floatSeq &amp;pointR, const char *jointRefName, const ::hpp::floatSeq &amp;pointRef, const ::hpp::boolSeq &amp;mask)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createRelativeComConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1ed11d4244ca54577ed6f40ec5f82db2</anchor>
      <arglist>(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &amp;point, const ::hpp::boolSeq &amp;mask)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createConvexShapeContactConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a10f9062f814a5c18301a2d88b7ebb457</anchor>
      <arglist>(const char *constraintName, const ::hpp::Names_t &amp;floorJoints, const ::hpp::Names_t &amp;objectJoints, const ::hpp::floatSeqSeq &amp;pts, const ::hpp::intSeqSeq &amp;objectTriangles, const ::hpp::intSeqSeq &amp;floorTriangles)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createPositionConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5243027bf2b9fbdb463bb622b6d7d8f3</anchor>
      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &amp;point1, const ::hpp::floatSeq &amp;point2, const ::hpp::boolSeq &amp;mask)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createConfigurationConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1bb12af0a75351904406924cf5d8e498</anchor>
      <arglist>(const char *constraintName, const ::hpp::floatSeq &amp;goal, const ::hpp::floatSeq &amp;weights)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createDistanceBetweenJointConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>abdde6b0c9a40907437e952354487f364</anchor>
      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createDistanceBetweenJointAndObjects</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>af234f57351f5978b4ad6784d72285091</anchor>
      <arglist>(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &amp;objects, ::CORBA::Double distance)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createIdentityConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a8d31a8aea2ee93cdbd7ec6938d39656f</anchor>
      <arglist>(const char *constraintName, const ::hpp::Names_t &amp;inJoints, const ::hpp::Names_t &amp;outJoints)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resetConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1ade546c37a2bbe00698230e9d8d64aa</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resetConstraintMap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a7168c7bad3d912197e8c1275af9c4756</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addPassiveDofs</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1f25b04baeb48b6e012ca0051f343be7</anchor>
      <arglist>(const char *constraintName, const ::hpp::Names_t &amp;jointNames)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getConstraintDimensions</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1391666413586748c2d67b8593030635</anchor>
      <arglist>(const char *constraintName, ::CORBA::ULong &amp;inputSize, ::CORBA::ULong &amp;inputDerivativeSize, ::CORBA::ULong &amp;outputSize, ::CORBA::ULong &amp;outputDerivativeSize)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setConstantRightHandSide</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a9d1396e99378f538492fcda82d7a6015</anchor>
      <arglist>(const char *constraintName, ::CORBA::Boolean constant)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>getConstantRightHandSide</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
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      <arglist>(const char *constraintName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getRightHandSide</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a62aa3e34683822d8de4fe1d5f35509d9</anchor>
      <arglist>()=0</arglist>
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      <type>virtual void</type>
      <name>setRightHandSide</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad84ac309aa382650cd9454eb3437465a</anchor>
      <arglist>(const ::hpp::floatSeq &amp;rhs)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRightHandSideFromConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a421d1d3094b926abf6faa88033d5cea6</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRightHandSideByName</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a48d4243fe84b58c08f5efab80fbd14c1</anchor>
      <arglist>(const char *constraintName, const ::hpp::floatSeq &amp;rhs)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRightHandSideFromConfigByName</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5fbd2b087a134c58a78ee8fb5590f0fc</anchor>
      <arglist>(const char *constraintName, const ::hpp::floatSeq &amp;config)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addNumericalConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a450947797ce6e107fd60316df8a09d4e</anchor>
      <arglist>(const char *configProjName, const ::hpp::Names_t &amp;constraintNames, const ::hpp::intSeq &amp;priorities)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setNumericalConstraintsLastPriorityOptional</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad1939e84c5b3c041bc4e581a8fe0ccf0</anchor>
      <arglist>(::CORBA::Boolean optional)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addLockedJointConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a9aeaa32829932b8a91027e90cdefa0c1</anchor>
      <arglist>(const char *configProjName, const ::hpp::Names_t &amp;lockedJointNames)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>displayConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>af68b44a65ffba6d66a7e598c640de5d8</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Double</type>
      <name>getErrorThreshold</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ab0bf169ca90f80c0a58b3423bdd20377</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setErrorThreshold</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a276f6425b953e29ef0e97afc02312071</anchor>
      <arglist>(::CORBA::Double threshold)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setDefaultLineSearchType</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a87b3cad1875ad5f18d70554045193664</anchor>
      <arglist>(const char *type)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>getMaxIterProjection</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a0bb0e23a6dca9ebbeec9638af38f8bcb</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setMaxIterProjection</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>acd5bfc0b6a3d79451e61804b130f4716</anchor>
      <arglist>(::CORBA::ULong iterations)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>getMaxIterPathPlanning</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ab8a0934430da8ac388ef739ed1a15838</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setMaxIterPathPlanning</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a38443a8895f1a55a02133daf003d435f</anchor>
      <arglist>(::CORBA::ULong iterations)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>scCreateScalarMultiply</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a3c69d917beaf37f51b658916e80dd5bc</anchor>
      <arglist>(const char *outName, ::CORBA::Double scalar, const char *inName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Double</type>
      <name>getTimeOutPathPlanning</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a89f73053d953c9247532470e9fe44ff6</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setTimeOutPathPlanning</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1176959a112f39182bf95e4a5df4f9e0</anchor>
      <arglist>(::CORBA::Double timeOut)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>filterCollisionPairs</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae0c046dd65385d46030d1d891a1634f2</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>selectPathPlanner</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5c541a73f782dec7edbe7d2e1fc11342</anchor>
      <arglist>(const char *pathPlannerType)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>selectConfigurationShooter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a49946c36bb599aa56958caf74c14a15b</anchor>
      <arglist>(const char *configurationShooterType)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>selectDistance</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>add522f3bfade8c226c3bdab18582c720</anchor>
      <arglist>(const char *distanceType)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>selectSteeringMethod</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a0667bb6063f8de8106b57ba442b3e98c</anchor>
      <arglist>(const char *steeringMethodType)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addPathOptimizer</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a83cda684d5ac660ea2f2f3c887ea4e18</anchor>
      <arglist>(const char *pathOptimizerType)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clearPathOptimizers</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5f9a6dcae5b8fc6de7d43f87d331fbb2</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addConfigValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1c79b367f3c1a96181dd3351f4c79a9b</anchor>
      <arglist>(const char *configValidationType)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clearConfigValidations</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a8a5734a9cb7e48dde5705b3a1bfd2519</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>selectPathValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a84b6e284d2166672ece80422544dd29d</anchor>
      <arglist>(const char *pathValidationType, ::CORBA::Double tolerance)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>selectPathProjector</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5c011efbc241786c7fa255a6b6fca4cb</anchor>
      <arglist>(const char *pathProjectorType, ::CORBA::Double tolerance)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>prepareSolveStepByStep</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a675f9ff257a7327f2a8b9dd15b3f38d9</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>executeOneStep</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a09d1491de6277a6865efb9df8458c771</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>finishSolveStepByStep</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa401f71bb70f9a4808878fa53a5a1b46</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual intSeq *</type>
      <name>solve</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>acf1fb8ca620bbba6e52bc2224c3e7bf6</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>directPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a05afad749da0e38ec7d39a115a3fe7c3</anchor>
      <arglist>(const ::hpp::floatSeq &amp;startConfig, const ::hpp::floatSeq &amp;endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &amp;pathId, ::CORBA::String_out report)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>reversePath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a85462224652854e4ef6c052624830cd7</anchor>
      <arglist>(::CORBA::ULong pathId, ::CORBA::ULong &amp;reversedPathId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addConfigToRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a813c1a05a6a82e2cf941e8c165e03dc4</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addEdgeToRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa99861af7459f55bc133f56d11271808</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config1, const ::hpp::floatSeq &amp;config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>appendDirectPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a93b16fefc4a90ca70e5552d454b36c3a</anchor>
      <arglist>(::CORBA::ULong pathId, const ::hpp::floatSeq &amp;config, ::CORBA::Boolean validate)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>concatenatePath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad2f86ad65e6944aec070bfab081666b8</anchor>
      <arglist>(::CORBA::ULong startId, ::CORBA::ULong endId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>extractPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aace9bd77369ae9cdb4b022505fa35a0b</anchor>
      <arglist>(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>erasePath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad12dacc2b4b4c4d57c05a401b0b69d8d</anchor>
      <arglist>(::CORBA::ULong pathId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>projectPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a64a7b5a503f891982f1c89a3720d9fde</anchor>
      <arglist>(::CORBA::ULong patId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>numberPaths</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>afb7c3d303794acb411703535b4d828e7</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual intSeq *</type>
      <name>optimizePath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a81e4e0f9167b85002e6cc62ae7d9ac3c</anchor>
      <arglist>(::CORBA::ULong inPathId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Double</type>
      <name>pathLength</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ab820b0be38b84bbcb1508596ebb1f22d</anchor>
      <arglist>(::CORBA::ULong inPathId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>configAtParam</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a35f90e2e19b8a58f9638ba92c685ed69</anchor>
      <arglist>(::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>derivativeAtParam</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a6c368c67cfbfb396cd4e6e3d9b544add</anchor>
      <arglist>(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>getWaypoints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a86ac3eed786c78ba1baa1c474c37f8ca</anchor>
      <arglist>(::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>interruptPathPlanning</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ab35bcba817407a757d03ac1b93c640bf</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>nodes</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a317da91bfaf0064436a9d9f8d674968b</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>numberNodes</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a9da56dde3754e4ee319049df75f8a6d3</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>node</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1df618f40b01da60c9300dee77298180</anchor>
      <arglist>(::CORBA::ULong nodeId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>connectedComponentOfEdge</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>adf546a0052ad4aaec28858a3cea38c84</anchor>
      <arglist>(::CORBA::ULong edgeId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>connectedComponentOfNode</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1efbf1ad05531902efa262541ca69f5d</anchor>
      <arglist>(::CORBA::ULong nodeId)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>numberEdges</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a837456e35757bb3dafc471ff0661613e</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>edge</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ac2180785d5a490feaf03d71aacbf6c30</anchor>
      <arglist>(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>numberConnectedComponents</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae4a68079b6604a277d9a8acf2d3b306e</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>nodesConnectedComponent</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a3b97f7a0c6f25e6a58235ed31c133243</anchor>
      <arglist>(::CORBA::ULong connectedComponentId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getNearestConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a78222b76fcd5d6e007b7d51055da8534</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config, ::CORBA::Long connectedComponentId, ::CORBA::Double &amp;distance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clearRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a35729db58a9da47f8f74f57f06298bfa</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resetRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a7c975316a79b07d3538360bfb423d27e</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>saveRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae1ad83e1832dc8da62cbe7adc65f020e</anchor>
      <arglist>(const char *filename)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa0ee8d294f7579fc5fb1b7e7a36e8f4f</anchor>
      <arglist>(const char *filename)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Distance_ptr</type>
      <name>getDistance</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a84a827c65a0fc79af8ade4f937dbfd2b</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setDistance</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>abe3db477beb8dabd54831410dcff1cfa</anchor>
      <arglist>(::hpp::core_idl::Distance_ptr distance)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Path_ptr</type>
      <name>getPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a6c2fca1d581b786632fc424cd45705ac</anchor>
      <arglist>(::CORBA::ULong pathId)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>addPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae5e83cb87f1a8f603eeab06846a2f2b3</anchor>
      <arglist>(::hpp::core_idl::PathVector_ptr path)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>savePath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a1c0bc536b197c70ce96720b9fd75cfaa</anchor>
      <arglist>(::hpp::core_idl::Path_ptr path, const char *filename)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Path_ptr</type>
      <name>loadPath</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa8b71219e92928405392c55e19bdef8b</anchor>
      <arglist>(const char *filename)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::SteeringMethod_ptr</type>
      <name>getSteeringMethod</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5d42fea7a3af85a3854e8d4f2a9793b0</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::PathValidation_ptr</type>
      <name>getPathValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>af212b122b7f3a784c3efc8f45d1c33cb</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::PathPlanner_ptr</type>
      <name>getPathPlanner</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad5866451d6d107a10827a346160856e8</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Problem_ptr</type>
      <name>getProblem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ab578446ef615adfaf905ce0d4a886f51</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual constraints_idl::Implicit_ptr</type>
      <name>getConstraint</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad2e99450b285b15499d7a0e1d075f41f</anchor>
      <arglist>(const char *constraintName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRobot</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a794a4c58d523a194184256892dd71930</anchor>
      <arglist>(::hpp::pinocchio_idl::Device_ptr robot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual pinocchio_idl::CollisionObject_ptr</type>
      <name>getObstacle</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a3c92cc489b7ddb2243a20931a89d70d5</anchor>
      <arglist>(const char *name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Problem_ptr</type>
      <name>createProblem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a6aeab43baadca5f371677b418b783207</anchor>
      <arglist>(::hpp::pinocchio_idl::Device_ptr robot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Roadmap_ptr</type>
      <name>createRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a00e271145161a9bed08d5d735d257669</anchor>
      <arglist>(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Roadmap_ptr</type>
      <name>readRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ac26aae106f3cf5f13ae1f452e094c900</anchor>
      <arglist>(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>writeRoadmap</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad5e5ef75d75f86a4949397cff74119b2</anchor>
      <arglist>(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::PathPlanner_ptr</type>
      <name>createPathPlanner</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a5332672fcffe9502fa809354086c8e58</anchor>
      <arglist>(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::PathOptimizer_ptr</type>
      <name>createPathOptimizer</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae23540d071119521ddead26853830d0b</anchor>
      <arglist>(const char *type, ::hpp::core_idl::Problem_ptr problem)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::ConfigValidation_ptr</type>
      <name>createConfigValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ac17664257fde8e14c704e9a073da9f87</anchor>
      <arglist>(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::PathValidation_ptr</type>
      <name>createPathValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a54138816c59c68ef845cd197a514fa37</anchor>
      <arglist>(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::PathProjector_ptr</type>
      <name>createPathProjector</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a968281d07c918442508070a9ad521b26</anchor>
      <arglist>(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::ConfigurationShooter_ptr</type>
      <name>createConfigurationShooter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a80890abec3caa22aa39a5f8a0b8b6348</anchor>
      <arglist>(const char *type, ::hpp::core_idl::Problem_ptr problem)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Distance_ptr</type>
      <name>createDistance</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a830e0af1f7fa9a3dfffd4d95d662543f</anchor>
      <arglist>(const char *type, ::hpp::core_idl::Problem_ptr problem)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::SteeringMethod_ptr</type>
      <name>createSteeringMethod</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a12e127c255b6d6fe4f9b96e23c85a2e1</anchor>
      <arglist>(const char *type, ::hpp::core_idl::Problem_ptr problem)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Constraint_ptr</type>
      <name>createConstraintSet</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a9a0c6d3f07c8f797bebc67182636e693</anchor>
      <arglist>(::hpp::pinocchio_idl::Device_ptr robot, const char *name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual core_idl::Constraint_ptr</type>
      <name>createConfigProjector</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>af05668ffab9d96a507ff74164fb1b6d3</anchor>
      <arglist>(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a26eb1914e0ce07e6941e094e89b54790</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Problem</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a57ef6cbdf14699a441a0e0866365e62c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa90a66e056efbb402492693c345facc8</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a577e1ce578b42837ff770a8793705b62</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a0e603791f99ad9fa77774ff1ac054050</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual pinocchio_idl::Device_ptr</type>
      <name>robot</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aabb5ba23426d2963ab8aeb3f4117f357</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setInitConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a47d50c7b553ccc6313c431bc4995f718</anchor>
      <arglist>(const ::hpp::floatSeq &amp;init)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getInitConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a9ccd3cb9956783dd27d30728c0a424ef</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addGoalConfig</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a565f28465324d8683401ece83881cb52</anchor>
      <arglist>(const ::hpp::floatSeq &amp;goal)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>resetGoalConfigs</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a4d67ee6c24557345da59eac531c8b3de</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Constraint_ptr</type>
      <name>getConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ad9a0fad23876257828382759656f66b5</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setConstraints</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a4e31f9c09a438e0b11110027693e5890</anchor>
      <arglist>(::hpp::core_idl::Constraint_ptr constraints)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Distance_ptr</type>
      <name>getDistance</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a6a6b94a5a9087ced90b59736df7cf753</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setDistance</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a6613d6ee28a8795a3e40fa403d5c9d46</anchor>
      <arglist>(::hpp::core_idl::Distance_ptr d)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual SteeringMethod_ptr</type>
      <name>getSteeringMethod</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ab6614cc6c29a54958d12c5926fcd326f</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSteeringMethod</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a7fcf609f3ec0f4b6a52cca21951e0d13</anchor>
      <arglist>(::hpp::core_idl::SteeringMethod_ptr d)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual PathValidation_ptr</type>
      <name>getPathValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a87f145b4ab9c83837c313a7c0d13882b</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setPathValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aec03e76eb63789eb10690f93ee3e9752</anchor>
      <arglist>(::hpp::core_idl::PathValidation_ptr d)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual PathProjector_ptr</type>
      <name>getPathProjector</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aad8a2b6595f1e9de18040ece47790c08</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setPathProjector</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a9e071f961a09be393982ff683e839c97</anchor>
      <arglist>(::hpp::core_idl::PathProjector_ptr p)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ConfigValidation_ptr</type>
      <name>getConfigValidations</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa04b6b86092ab38bed87a569085bec9c</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clearConfigValidations</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a8a5734a9cb7e48dde5705b3a1bfd2519</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addConfigValidation</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>aa7fca31ea3b8af28bb938de5966d3b72</anchor>
      <arglist>(::hpp::core_idl::ConfigValidation_ptr cfgValidation)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ConfigurationShooter_ptr</type>
      <name>getConfigurationShooter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a19d66fecb8bf671dd9b23c5092ba03a5</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setConfigurationShooter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>af96083d7413262f49bf2d7952869544a</anchor>
      <arglist>(::hpp::core_idl::ConfigurationShooter_ptr d)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>filterCollisionPairs</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>ae0c046dd65385d46030d1d891a1634f2</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setSecurityMargins</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a4005f33f0345e57a92b3ce381b2a4fb3</anchor>
      <arglist>(const ::hpp::floatSeqSeq &amp;margins)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addObstacle</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>acd15e7a64811389211a1a5aa182c4be0</anchor>
      <arglist>(::hpp::pinocchio_idl::CollisionObject_ptr object)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setParameter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a79e5cddc62d402b06557c399ddbe83b5</anchor>
      <arglist>(const char *name, const ::CORBA::Any &amp;value)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Any *</type>
      <name>getParameter</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a42dc7f7670a79661243687cad193048b</anchor>
      <arglist>(const char *name)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Problem.html</anchorfile>
      <anchor>a26eb1914e0ce07e6941e094e89b54790</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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  </compound>
  <compound kind="class">
    <name>_impl_Roadmap</name>
    <filename>class__impl__Roadmap.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Roadmap</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>ae4be20271245522705a170e246b29ec1</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a25b083da2e8455b991dbe18c9185eaae</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a1966422935ef9a9a9f6f8a12d8a7ec0b</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a9a95edf4c1df18a7e93c0d79fe63d943</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clear</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>af34ffc3f0c733e75c6c86085868e508a</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addNode</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a018038b969d4ca10cd924609a5b572fe</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addNodeAndEdge</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>ae9fd867940f441869b8a00dee8e1e939</anchor>
      <arglist>(const ::hpp::floatSeq &amp;cfgfrom, const ::hpp::floatSeq &amp;cfgto, ::hpp::core_idl::Path_ptr path_)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addNodeAndEdges</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>aead610ed0dfcf0793826cedb03e12b09</anchor>
      <arglist>(const ::hpp::floatSeq &amp;cfgfrom, const ::hpp::floatSeq &amp;cfgto, ::hpp::core_idl::Path_ptr path_)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>nearestNode</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a17192ea58fe54df68bc914933d1711ef</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config, ::hpp::value_type &amp;distance, ::CORBA::Boolean reverse)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>nearestNodes</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a556063378de91e7a75386661a38bac39</anchor>
      <arglist>(const ::hpp::floatSeq &amp;config, ::hpp::size_type &amp;k)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>getNbNodes</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a0993b72405fc4d7a471d600256a3970d</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getNode</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a57f66ef63285ff391c609b65a9c07322</anchor>
      <arglist>(::hpp::size_type i)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_type</type>
      <name>getNbEdges</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a9f7bc7629d030d0c6a4bc603b56854ee</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>getEdge</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>aaef195750cfac03cbd38953ceb37e175</anchor>
      <arglist>(::hpp::size_type i)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ConnectedComponentSeq *</type>
      <name>getConnectedComponents</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>ad522277b218d7106b9b20f722e8b3111</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Roadmap.html</anchorfile>
      <anchor>a4cc7b3d201b233a9c3c668cf402aebb7</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>_impl_Robot</name>
    <filename>class__impl__Robot.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Robot</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a01b5e55321a70b88306ee263cde965db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadRobotModel</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a38b555d73153754e8f5b757004d239be</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadHumanoidModel</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a1a3dedce52024c599bfe7d1255860dda</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadRobotModelFromString</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a523da47a45cc0fdae1d9fb44f76b75ad</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadHumanoidModelFromString</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a442a7ac3fa90edea54538be9e51c7a7e</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>getConfigSize</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a37a0dcc0f7d96a42ba611801f1dedde2</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>getNumberDof</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>abb2bb7b40bb7926be8ee839e6c361e78</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getJointNames</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>afeea8a5a26fc9bb1c929e32b124fd429</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getJointTypes</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ae15f9843aa50eacef5c5cf40cd9509c6</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getAllJointNames</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>aec2530c566bf52e5ff7ebe5bff4a7f58</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>getParentJointName</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>abb23854179e3247461930ed02124ea99</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getJointConfig</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>abd37ce5ceb09b13f8515ba9aa52f20a9</anchor>
      <arglist>(const char *jointName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setJointConfig</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>afffd7a103c09e5b39577c9f64f350ac1</anchor>
      <arglist>(const char *jointName, const ::hpp::floatSeq &amp;config)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>getJointType</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a1b4757b491be0aeb743ef2316cb5fa1e</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>jointIntegrate</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a15ae59affd954cfabbd039baa50eb326</anchor>
      <arglist>(const ::hpp::floatSeq &amp;jointCfg, const char *jointName, const ::hpp::floatSeq &amp;speed, ::CORBA::Boolean saturate)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>getCurrentTransformation</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a25f2e48e063a5fe58a96b7ce48a82290</anchor>
      <arglist>(const char *jointName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Transform__slice *</type>
      <name>getJointPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a92ed3c4cfdaad341554e2c6112d5ddba</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual TransformSeq *</type>
      <name>getJointsPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>abdfa48ae27c4ac170e9fca0549490f7a</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q, const ::hpp::Names_t &amp;jointNames)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getJointVelocity</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>aa81f3227ac7e315ba576c6e3e8034c91</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getJointVelocityInLocalFrame</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a2d90d5c8b80e632bc71995dda169129b</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Transform__slice *</type>
      <name>getJointPositionInParentFrame</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a0deb3270aae712cadad5cdd7440f5f69</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Transform__slice *</type>
      <name>getRootJointPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a3f59ef6d24212dbd2565c4de9579b6d8</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRootJointPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a46bb4171ab66d52ffeeed79988b09d2d</anchor>
      <arglist>(const ::hpp::Transform_ position)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setJointPositionInParentFrame</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ae50987209666dc0946b6bcbe4a95b74b</anchor>
      <arglist>(const char *jointName, const ::hpp::Transform_ position)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>getJointNumberDof</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>aa9cdafcf9b4d6c1469a510c420cac4b2</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Long</type>
      <name>getJointConfigSize</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a6aff385c1affde40379dc019bc087600</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setJointBounds</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>abb6de4fc657a5ba1edaa95792a77a4ef</anchor>
      <arglist>(const char *jointName, const ::hpp::floatSeq &amp;inJointBound)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getJointBounds</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>adb8e1f286b5760410b16fcf0a6839971</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Transform__slice *</type>
      <name>getLinkPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a52f19dc82bb8d5459ce41d6cbf9e0b8a</anchor>
      <arglist>(const char *linkName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual TransformSeq *</type>
      <name>getLinksPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>aa5b1df70592f7f9824870a3785b7079d</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q, const ::hpp::Names_t &amp;linkName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getLinkNames</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a164e8316a7b72d9f9024f66d792d03c4</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setDimensionExtraConfigSpace</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a5af836babf0e93f9e4b925e2c25ef075</anchor>
      <arglist>(::CORBA::ULong dimension)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>getDimensionExtraConfigSpace</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a97863e85e18aec4a5abe74d5b0c87e89</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setExtraConfigSpaceBounds</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a6a0f12dc10857cce93f5d0024fa90147</anchor>
      <arglist>(const ::hpp::floatSeq &amp;bounds)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCurrentConfig</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a9c2289da28ba43c1d215734a7d860994</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>shootRandomConfig</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>afff21fd2e87839a0073cf29ba993b6f0</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setCurrentConfig</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ae7e969031efb84a5f536c51c1441fad2</anchor>
      <arglist>(const ::hpp::floatSeq &amp;dofArray)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCurrentVelocity</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>aa5b1aaec193341c9c84bba0e7f14fba9</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setCurrentVelocity</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>af99b1ed360b78604c0f400c96fd83d44</anchor>
      <arglist>(const ::hpp::floatSeq &amp;qDot)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getJointInnerObjects</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ad03008635ddd651273209c2159ecb1f9</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getJointOuterObjects</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a4c5f798581976b7193e1873d3d3d232a</anchor>
      <arglist>(const char *jointName)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getObjectPosition</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a9ab085036bdb299bc50ee7954c0719d8</anchor>
      <arglist>(const char *objectName, ::hpp::Transform_ cfg)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>isConfigValid</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a061d6af475ae32ef4b14a30954f56f2b</anchor>
      <arglist>(const ::hpp::floatSeq &amp;dofArray, ::CORBA::Boolean &amp;validity, ::CORBA::String_out report)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>distancesToCollision</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a1dcff849120d70ae0bb8a4feddb625d9</anchor>
      <arglist>(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>autocollisionCheck</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a55ac1ccdc64a087bf959b4e51957e195</anchor>
      <arglist>(::hpp::boolSeq_out collide)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>autocollisionPairs</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>aca76ee704597ec108d3290e7dba86938</anchor>
      <arglist>(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setAutoCollision</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ac8e5593c6928002390309ece833dffb2</anchor>
      <arglist>(const char *innerObject, const char *outerObject, ::CORBA::Boolean active)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getRobotAABB</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a9b887e52f76972a3da52b94fa0acce64</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Double</type>
      <name>getMass</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a196ab580fb6ea98354aed09d1bb28c18</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCenterOfMass</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a4b46753abd9c836ef3adfe6c5e849db5</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getCenterOfMassVelocity</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a128d19cc71e604d90be8ccd4dcdc34ba</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>getJacobianCenterOfMass</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a00a40e1451c3f033b0305effa759ae89</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addPartialCom</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a875fafb0fa8c1b66ed9f4efcf3fd62cd</anchor>
      <arglist>(const char *comName, const ::hpp::Names_t &amp;jointNames)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getPartialCom</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a86db9103ee669d8df2c45bd7e008072b</anchor>
      <arglist>(const char *comName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeqSeq *</type>
      <name>getJacobianPartialCom</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>acae38be2dde653935db004db17335a33</anchor>
      <arglist>(const char *comName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getVelocityPartialCom</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ae5597fedb4c8271bf30b5a8a38a65294</anchor>
      <arglist>(const char *comName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual char *</type>
      <name>getRobotName</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a714dc76abf7be579f78812b731e02755</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual pinocchio_idl::CenterOfMassComputation_ptr</type>
      <name>getCenterOfMassComputation</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a3077234a82edbdfd73172bf47deac65b</anchor>
      <arglist>(const char *name)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createRobot</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a5599c35be2dc3d6b6569d9464d50f2d9</anchor>
      <arglist>(const char *robotName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>appendJoint</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>af060d1a5479f3dbd952bd2d2927e126c</anchor>
      <arglist>(const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createPolyhedron</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a363cfb556cb73815769064a44f53aeb5</anchor>
      <arglist>(const char *inPolyName)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createBox</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>acf9e0da748eceda5d8cbd8ec0475cf23</anchor>
      <arglist>(const char *name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createSphere</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a6aef1116b2abb1a2c739eaa72fd13ba5</anchor>
      <arglist>(const char *name, ::CORBA::Double radius)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>createCylinder</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a56fd763184fb2c33296a8b2770d64127</anchor>
      <arglist>(const char *name, ::CORBA::Double radius, ::CORBA::Double length)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>addPoint</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a8c4a4ab6659a2d016f90c9d2ae4c1511</anchor>
      <arglist>(const char *inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::ULong</type>
      <name>addTriangle</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>ad6e93f98b0ff24152b530fa8a54e224e</anchor>
      <arglist>(const char *inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>addObjectToJoint</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>a5d89f90ac4b708b62e365c9e41799a6a</anchor>
      <arglist>(const char *jointName, const char *objectName, const ::hpp::Transform_ pos)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Robot.html</anchorfile>
      <anchor>add50bec2ffb5891dc0b13b414c8226d1</anchor>
      <arglist>(omniCallHandle &amp;)</arglist>
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    <name>_impl_SplineBernstein3</name>
    <filename>class__impl__SplineBernstein3.html</filename>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_SplineBernstein3</name>
      <anchorfile>class__impl__SplineBernstein3.html</anchorfile>
      <anchor>aae84501da4308519c58de09d3e069013</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>steer</name>
      <anchorfile>class__impl__SplineBernstein3.html</anchorfile>
      <anchor>aff84210ebc7f7b4f5db52ffd7be5f9d2</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::intSeq &amp;order1, const ::hpp::floatSeqSeq &amp;derivatives1, const ::hpp::floatSeq &amp;q2, const ::hpp::intSeq &amp;order2, const ::hpp::floatSeqSeq &amp;derivatives2, ::CORBA::Float length)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>steerSE3</name>
      <anchorfile>class__impl__SplineBernstein3.html</anchorfile>
      <anchor>a178520a8f6b40edb0639bef37068d6ce</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::intSeq &amp;order1, const ::hpp::floatSeqSeq &amp;derivatives1, const ::hpp::floatSeq &amp;q2, const ::hpp::intSeq &amp;order2, const ::hpp::floatSeqSeq &amp;derivatives2, ::CORBA::Float length)=0</arglist>
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      <type>virtual _CORBA_Boolean</type>
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      <anchorfile>class__impl__SplineBernstein3.html</anchorfile>
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      <arglist>(omniCallHandle &amp;)</arglist>
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    <base virtualness="virtual">_impl_SteeringMethod</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_SplineBernstein5</name>
      <anchorfile>class__impl__SplineBernstein5.html</anchorfile>
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      <arglist>()</arglist>
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      <type>virtual Path_ptr</type>
      <name>steer</name>
      <anchorfile>class__impl__SplineBernstein5.html</anchorfile>
      <anchor>ae038c9ccdb7096a04dc674a18c297b59</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::intSeq &amp;order1, const ::hpp::floatSeqSeq &amp;derivatives1, const ::hpp::floatSeq &amp;q2, const ::hpp::intSeq &amp;order2, const ::hpp::floatSeqSeq &amp;derivatives2, ::CORBA::Float length)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Path_ptr</type>
      <name>steerSE3</name>
      <anchorfile>class__impl__SplineBernstein5.html</anchorfile>
      <anchor>a26fae08943f59b5751cb3de06823c75a</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::intSeq &amp;order1, const ::hpp::floatSeqSeq &amp;derivatives1, const ::hpp::floatSeq &amp;q2, const ::hpp::intSeq &amp;order2, const ::hpp::floatSeqSeq &amp;derivatives2, ::CORBA::Float length)=0</arglist>
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      <type>virtual _CORBA_Boolean</type>
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      <anchorfile>class__impl__SplineBernstein5.html</anchorfile>
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      <arglist>(omniCallHandle &amp;)</arglist>
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    <filename>class__impl__SteeringMethod.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_SteeringMethod</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>aab91165bb2ef6124468cb07a63a49564</anchor>
      <arglist>()</arglist>
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      <type>virtual void</type>
      <name>deleteThis</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>aee54fe3f5dced6b64a62e55ce53d46de</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteIfExpired</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>ab6660f23f4ac195f1fca1a557edfdf26</anchor>
      <arglist>()=0</arglist>
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      <type>virtual void</type>
      <name>persistantStorage</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>abaffc360d0d6f214eb2ea8aacd703c30</anchor>
      <arglist>(::CORBA::Boolean persistant)=0</arglist>
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      <type>virtual Path_ptr</type>
      <name>call</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>afe04c5d648b3fe51b5d617abeaadda4f</anchor>
      <arglist>(const ::hpp::floatSeq &amp;q1, const ::hpp::floatSeq &amp;q2)=0</arglist>
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      <name>setConstraints</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>aec9a1412ae55bf0f085099a4eedba5bd</anchor>
      <arglist>(::hpp::core_idl::ConstraintSet_ptr constraints)=0</arglist>
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      <type>virtual Constraint_ptr</type>
      <name>getConstraints</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
      <anchor>afa3636eeb975946a2b9f6cf63d20315b</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__SteeringMethod.html</anchorfile>
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      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_Tools</name>
    <filename>class__impl__Tools.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_Tools</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>a4313f8a1b9f779e8a986344041907f24</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>loadServerPlugin</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>ac7c1dcb884251cb2b6213e8d0055582e</anchor>
      <arglist>(const char *context_, const char *pluginName)=0</arglist>
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      <type>virtual ::CORBA::Boolean</type>
      <name>createContext</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>a551755e9c179b205e72c3b30f7d5becf</anchor>
      <arglist>(const char *context_)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Names_t *</type>
      <name>getContexts</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>a2ca4061ed09d185d24a8a7e26d5d6a29</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Boolean</type>
      <name>deleteContext</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
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      <arglist>(const char *context_)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual ::CORBA::Object_ptr</type>
      <name>getServer</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>af28855f34cca512ff5887b492289c352</anchor>
      <arglist>(const char *context_, const char *pluginName, const char *objectname)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>deleteServant</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>a43f5bd00b195f198216e5baf9ff0c100</anchor>
      <arglist>(const char *id)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>deleteAllServants</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>aeac99d3d48b821b47d8609a24ff6701c</anchor>
      <arglist>()=0</arglist>
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      <type>virtual Names_t *</type>
      <name>getAllServants</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>ad710a6aa960601cdc70f4e3e5414104d</anchor>
      <arglist>()=0</arglist>
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      <name>shutdown</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
      <anchor>a1bdc0e9b97d697de0ba1c1984b05d9f8</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__Tools.html</anchorfile>
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      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_UniformSeedable</name>
    <filename>class__impl__UniformSeedable.html</filename>
    <base virtualness="virtual">_impl_ConfigurationShooter</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <anchorfile>class__impl__UniformSeedable.html</anchorfile>
      <anchor>a2b1628d9c25287a8031cc6b9167f47da</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
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      <name>seed</name>
      <anchorfile>class__impl__UniformSeedable.html</anchorfile>
      <anchor>ac73e8f2ff4c5d1252a8bdd03006f2333</anchor>
      <arglist>(::CORBA::Long seed_)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual _CORBA_Boolean</type>
      <name>_dispatch</name>
      <anchorfile>class__impl__UniformSeedable.html</anchorfile>
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      <arglist>(omniCallHandle &amp;)</arglist>
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  <compound kind="class">
    <name>_impl_WeighedDistance</name>
    <filename>class__impl__WeighedDistance.html</filename>
    <base virtualness="virtual">_impl_Distance</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~_impl_WeighedDistance</name>
      <anchorfile>class__impl__WeighedDistance.html</anchorfile>
      <anchor>add6634e28b800e37c920543b515be441</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual floatSeq *</type>
      <name>getWeights</name>
      <anchorfile>class__impl__WeighedDistance.html</anchorfile>
      <anchor>ae5812f356a0b16ef9902f793d8735dc7</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>setWeights</name>
      <anchorfile>class__impl__WeighedDistance.html</anchorfile>
      <anchor>aa913bd08dd2aa0d72febf106ecc2f17d</anchor>
      <arglist>(const ::hpp::floatSeq &amp;weights)=0</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(::CORBA::ULong startId, ::CORBA::ULong endId)</arglist>
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      <arglist>(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)</arglist>
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      <arglist>(::CORBA::ULong pathId)</arglist>
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      <arglist>(::CORBA::ULong patId)</arglist>
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      <arglist>(::CORBA::ULong inPathId)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(::hpp::core_idl::Distance_ptr distance)</arglist>
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      <arglist>(::hpp::pinocchio_idl::Device_ptr robot)</arglist>
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      <arglist>()</arglist>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <anchorfile>class__pof__LockedJoint.html</anchorfile>
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      <arglist>(const char *) const</arglist>
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      <anchorfile>class__pof__Obstacle.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>class__pof__Obstacle.html</anchorfile>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <anchorfile>class__pof__Obstacle.html</anchorfile>
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    <filename>class__pof__Path.html</filename>
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      <anchorfile>class__pof__Path.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <anchorfile>class__pof__PathOptimizer.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>class__pof__PathOptimizer.html</anchorfile>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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    <filename>class__pof__PathPlanner.html</filename>
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      <anchorfile>class__pof__PathPlanner.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <arglist>(const char *) const</arglist>
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      <anchorfile>class__pof__PathProjector.html</anchorfile>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <arglist>(const char *) const</arglist>
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      <anchorfile>class__pof__PathValidation.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>class__pof__PathValidation.html</anchorfile>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <anchorfile>class__pof__PathValidation.html</anchorfile>
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      <arglist>(const char *) const</arglist>
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    <filename>class__pof__PathValidations.html</filename>
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      <anchorfile>class__pof__PathValidations.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <anchorfile>class__pof__PathValidations.html</anchorfile>
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      <arglist>(const char *) const</arglist>
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    <filename>class__pof__PathVector.html</filename>
    <member kind="function">
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      <name>_pof_PathVector</name>
      <anchorfile>class__pof__PathVector.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>class__pof__PathVector.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>class__pof__PathVector.html</anchorfile>
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      <arglist>(omniIOR *, omniIdentity *)</arglist>
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      <name>is_a</name>
      <anchorfile>class__pof__PathVector.html</anchorfile>
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      <arglist>(const char *) const</arglist>
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    <filename>class__pof__Problem.html</filename>
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      <name>_pof_Problem</name>
      <anchorfile>class__pof__Problem.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>(const floatSeq &amp;_s)</arglist>
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    <member kind="function">
      <type></type>
      <name>floatSeq</name>
      <anchorfile>classfloatSeq.html</anchorfile>
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      <arglist>(_CORBA_ULong _max)</arglist>
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    <member kind="function">
      <type></type>
      <name>floatSeq</name>
      <anchorfile>classfloatSeq.html</anchorfile>
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      <arglist>(_CORBA_ULong _max, _CORBA_ULong _len, ::CORBA::Double *_val, _CORBA_Boolean _rel=0)</arglist>
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    <member kind="function">
      <type>floatSeq &amp;</type>
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      <anchorfile>classfloatSeq.html</anchorfile>
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      <arglist>(const floatSeq &amp;_s)</arglist>
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  <compound kind="class">
    <name>floatSeq_out</name>
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    <member kind="function">
      <type></type>
      <name>floatSeq_out</name>
      <anchorfile>classfloatSeq__out.html</anchorfile>
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      <arglist>(floatSeq *&amp;_s)</arglist>
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      <arglist>(floatSeq_var &amp;_s)</arglist>
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      <arglist>(const floatSeq_out &amp;_s)</arglist>
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      <anchorfile>classfloatSeq__out.html</anchorfile>
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      <arglist>(const floatSeq_out &amp;_s)</arglist>
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      <arglist>(floatSeq *_s)</arglist>
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    <member kind="function">
      <type></type>
      <name>operator floatSeq *&amp;</name>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(_CORBA_ULong _i)</arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(floatSeq *_s)</arglist>
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      <anchorfile>classfloatSeq__var.html</anchorfile>
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      <anchorfile>classfloatSeq__var.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(floatSeq *_s)</arglist>
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      <arglist>(const floatSeq_var &amp;_s)</arglist>
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      <arglist>(_CORBA_ULong _s)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classfloatSeq__var.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <anchorfile>classfloatSeq__var.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="friend">
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      <arglist></arglist>
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      <anchorfile>classfloatSeqSeq.html</anchorfile>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(const floatSeqSeq &amp;_s)</arglist>
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      <anchorfile>classfloatSeqSeq.html</anchorfile>
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      <arglist>(_CORBA_ULong _max)</arglist>
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      <name>floatSeqSeq</name>
      <anchorfile>classfloatSeqSeq.html</anchorfile>
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      <arglist>(_CORBA_ULong _max, _CORBA_ULong _len, floatSeq *_val, _CORBA_Boolean _rel=0)</arglist>
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    <member kind="function">
      <type>floatSeqSeq &amp;</type>
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      <anchorfile>classfloatSeqSeq.html</anchorfile>
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      <arglist>(const floatSeqSeq &amp;_s)</arglist>
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      <name>floatSeqSeq_out</name>
      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>(floatSeqSeq *&amp;_s)</arglist>
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    <member kind="function">
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      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>(floatSeqSeq_var &amp;_s)</arglist>
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      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>(const floatSeqSeq_out &amp;_s)</arglist>
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      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>(const floatSeqSeq_out &amp;_s)</arglist>
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      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>(floatSeqSeq *_s)</arglist>
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      <name>operator floatSeqSeq *&amp;</name>
      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>()</arglist>
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      <name>ptr</name>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist>(_CORBA_ULong _i)</arglist>
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      <anchorfile>classfloatSeqSeq__out.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classfloatSeqSeq__var.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(floatSeqSeq *_s)</arglist>
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      <anchorfile>classfloatSeqSeq__var.html</anchorfile>
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      <arglist>(const floatSeqSeq_var &amp;_s)</arglist>
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      <anchorfile>classfloatSeqSeq__var.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>(floatSeqSeq *_s)</arglist>
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      <anchorfile>classfloatSeqSeq__var.html</anchorfile>
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      <arglist>(const floatSeqSeq_var &amp;_s)</arglist>
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      <anchorfile>classfloatSeqSeq__var.html</anchorfile>
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      <arglist>(_CORBA_ULong _s)</arglist>
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      <type>floatSeqSeq *</type>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <name>operator floatSeqSeq &amp;</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const floatSeqSeq &amp;</type>
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      <arglist>() const</arglist>
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      <type>floatSeqSeq &amp;</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>floatSeqSeq *&amp;</type>
      <name>out</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>floatSeqSeq *</type>
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      <arglist>()</arglist>
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    <member kind="friend">
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      <arglist></arglist>
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    <base virtualness="virtual">ConfigurationShooter</base>
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      <type>Gaussian_ptr</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Gaussian_var</type>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>(_ptr_type)</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>(::CORBA::Object_ptr)</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>(::CORBA::Object_ptr)</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>(_ptr_type, cdrStream &amp;)</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>(cdrStream &amp;s)</arglist>
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      <anchorfile>classGaussian.html</anchorfile>
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      <arglist>(omniObjRef *o)</arglist>
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      <type>static _core_attr const char *</type>
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      <arglist></arglist>
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  <compound kind="interface">
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    <member kind="function">
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      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const Double *p, const hpp::boolSeq &amp;mask)</arglist>
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      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const Transform_ frame1, const Transform_ frame2, const hpp::boolSeq &amp;mask)</arglist>
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      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const Transform_ frame1, const Transform_ frame2, const hpp::boolSeq &amp;mask)</arglist>
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      <arglist>(const char *lockedJointName, const char *jointName, const hpp::floatSeq &amp;value)</arglist>
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      <arglist>(const char *lockedJointName, const char *jointName, const hpp::floatSeq &amp;value, const hpp::ComparisonTypes_t &amp;comp)</arglist>
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      <arglist>(const char *lockedDofName, ULong index, const hpp::floatSeq &amp;value)</arglist>
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      <arglist>(const char *constraintName, const char *comn, const char *jointName, const floatSeq &amp;point, const hpp::boolSeq &amp;mask)</arglist>
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      <arglist>(const char *constraintName, const char *comn, const char *jointLName, const char *jointRName, const floatSeq &amp;pointL, const floatSeq &amp;pointR, const char *jointRefName, const floatSeq &amp;pRef, const hpp::boolSeq &amp;mask)</arglist>
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      <arglist>(const char *constraintName, const Names_t &amp;floorJoints, const Names_t &amp;objectJoints, const hpp::floatSeqSeq &amp;points, const hpp::intSeqSeq &amp;objTriangles, const hpp::intSeqSeq &amp;floorTriangles)</arglist>
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      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, const hpp::floatSeq &amp;point1, const hpp::floatSeq &amp;point2, const hpp::boolSeq &amp;mask)</arglist>
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      <arglist>(const char *constraintName, const hpp::floatSeq &amp;goal, const hpp::floatSeq &amp;weights)</arglist>
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      <arglist>(const char *constraintName, const char *joint1Name, const char *joint2Name, Double distance)</arglist>
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      <arglist>(const char *constraintName, const char *joint1Name, const hpp::Names_t &amp;objects, Double distance)</arglist>
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      <arglist>(const char *constraintName, const Names_t &amp;inJoints, const hpp::Names_t &amp;outJoints)</arglist>
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      <arglist>(const hpp::floatSeq &amp;input, hpp::floatSeq_out output, Double &amp;residualError)</arglist>
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      <arglist>(const hpp::floatSeq &amp;input, hpp::floatSeq_out output, hpp::floatSeq_out residualError)</arglist>
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      <arglist>(const hpp::floatSeq &amp;config, hpp::floatSeq_out value, hpp::floatSeqSeq_out jacobian)</arglist>
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      <arglist>(ULong maxIter, hpp::floatSeq_out output, Double &amp;residualError)</arglist>
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      <arglist>(const char *constraintName, ULong &amp;inputSize, ULong &amp;inputDerivativeSize, ULong &amp;outputSize, ULong &amp;outputDerivativeSize)</arglist>
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      <arglist>(const char *constraintName, CORBA::Boolean constant)</arglist>
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      <arglist>(const char *constraintName)</arglist>
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      <arglist>(const hpp::floatSeq &amp;rhs)</arglist>
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      <arglist>(const hpp::floatSeq &amp;config)</arglist>
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      <arglist>(const char *constraintName, const hpp::floatSeq &amp;rhs)</arglist>
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      <arglist>(const char *constraintName, const hpp::floatSeq &amp;config)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const char *constraintName, const hpp::Names_t &amp;constraintNames, const hpp::intSeq &amp;priorities)</arglist>
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      <arglist>(const bool optional)</arglist>
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      <arglist>(const char *configProjName, const hpp::Names_t &amp;lockedJointNames)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setErrorThreshold</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a76f6113a853f6e2ae28a762c6b4d4b69</anchor>
      <arglist>(Double threshold)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setDefaultLineSearchType</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ab3d24ca2dfcf391ec424c32bd1e976e3</anchor>
      <arglist>(const char *type)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ULong</type>
      <name>getMaxIterProjection</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a499659064a4e6d52ba47d549ffe5bcb5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMaxIterProjection</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a5f69f378bc9d65dd372e4ac7a7df74b4</anchor>
      <arglist>(ULong iterations)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ULong</type>
      <name>getMaxIterPathPlanning</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a066a88061606abdd0d5a465b0077cc90</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMaxIterPathPlanning</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a8c78302bd1267e2ea8ae454f7a095c87</anchor>
      <arglist>(ULong iterations)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setTimeOutPathPlanning</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a435955f9cfdc73f1102dccd30b77dfdb</anchor>
      <arglist>(double timeOut)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getTimeOutPathPlanning</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a749d388b0deb6c0335167a201854a360</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addPathOptimizer</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a58c6f0433d0893e12d7e856cb498a9f2</anchor>
      <arglist>(const char *pathOptimizerType)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>clearPathOptimizers</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a74e2859e54a841586910965bdfe02d91</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addConfigValidation</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a90e7f1a1217db4fa090dc84170565fd7</anchor>
      <arglist>(const char *configValidationType)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>clearConfigValidations</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a011776bdf882d4fddc1e27749fb92305</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>selectPathValidation</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ab622ba89d916f26875c1d8b9998a3bd7</anchor>
      <arglist>(const char *pathValidationType, Double tolerance)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>selectPathProjector</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a61a4ecaab41b0fb2129367470c7d4cd4</anchor>
      <arglist>(const char *pathProjectorType, Double tolerance)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>selectPathPlanner</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a5787e353aca9ec11e59f890bb4a184be</anchor>
      <arglist>(const char *pathPlannerType)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>selectDistance</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a92ae41ada247be31bc5abb65b01272a6</anchor>
      <arglist>(const char *distanceType)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>selectSteeringMethod</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>afe6d371f86b460ef0027f700d1b49bba</anchor>
      <arglist>(const char *steeringMethodType)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>selectConfigurationShooter</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a9cb5d49cee091cd6da593476fb6c5cae</anchor>
      <arglist>(const char *configurationShooterType)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>prepareSolveStepByStep</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aed0aa9249987a24a8878c827cb150938</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>executeOneStep</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>af171d25dd8a410f0e2fab75c35b739d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>finishSolveStepByStep</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a99101fa5888d7268b7182a6cda391b60</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::intSeq *</type>
      <name>solve</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ac2eb674e9db165555a88563d7a5d96a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>directPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a30ff301c9dfecfe3462d2302dd270732</anchor>
      <arglist>(const hpp::floatSeq &amp;startConfig, const hpp::floatSeq &amp;endConfig, CORBA::Boolean validate, ULong &amp;pathId, CORBA::String_out report)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>reversePath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ac9888aa0ca3ddf2cdbc677eb7e512d42</anchor>
      <arglist>(ULong pathId, ULong &amp;reversedPathId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addConfigToRoadmap</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aa4ecef2f1bee11bf21ba27739fc83f81</anchor>
      <arglist>(const hpp::floatSeq &amp;config)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addEdgeToRoadmap</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a5be659ca5042fab13a33baa4fbfa64ee</anchor>
      <arglist>(const hpp::floatSeq &amp;config1, const hpp::floatSeq &amp;config2, ULong pathId, bool bothEdges)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>appendDirectPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>abc9fcdf4df51f8a99726f8602bebf12d</anchor>
      <arglist>(ULong pathId, const hpp::floatSeq &amp;config, Boolean validate)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>concatenatePath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a2ceaa2d2ea67840db7ec27f82a8c2e1c</anchor>
      <arglist>(ULong startId, ULong endId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>extractPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a405b8c87166ff9f93d74000d5a5850af</anchor>
      <arglist>(ULong pathId, Double start, Double end)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>erasePath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>af01560216f836f6cfd0b1f7c92f3c807</anchor>
      <arglist>(ULong pathId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a31ac9db6807169eb1c86c70919e40a8f</anchor>
      <arglist>(ULong pathId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>interruptPathPlanning</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ad8efc857d4b6a5cefa49dad91db2e923</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>numberPaths</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aee47d7631c00813719f345fb4fd6d10e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::intSeq *</type>
      <name>optimizePath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a033b9afe89709608196db7e0a2cb5176</anchor>
      <arglist>(ULong pathId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Double</type>
      <name>pathLength</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ac584ebf315edfa1a21d2ae912f3f550a</anchor>
      <arglist>(ULong pathId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>configAtParam</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a265c21a150017e580dc94092a5cb9b99</anchor>
      <arglist>(ULong pathId, Double atDistance)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>derivativeAtParam</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a883c4892900cdb2c634f3774611e1409</anchor>
      <arglist>(ULong pathId, ULong order, Double atDistance)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeqSeq *</type>
      <name>getWaypoints</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>adeecc743ce1f5b7d284b339d388b20dd</anchor>
      <arglist>(ULong inPathId, floatSeq_out times)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeqSeq *</type>
      <name>nodes</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a0c2d618029f112bffb435d0f1ae7d222</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>numberEdges</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>abf20c8771f40db7132a1e8b7f466df90</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>edge</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a2f51f26f2dead0b2e2ecf4f8d9255b0d</anchor>
      <arglist>(ULong edgeId, hpp::floatSeq_out q1, hpp::floatSeq_out q2)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>connectedComponentOfEdge</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a831bfecb75555080c623beb422d427f8</anchor>
      <arglist>(ULong edgeId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>node</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aa97647429591cae4507c36907684d0bf</anchor>
      <arglist>(ULong nodeId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>connectedComponentOfNode</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aa096c49efca909cd147303c7e9e79dd6</anchor>
      <arglist>(ULong nodeId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>numberNodes</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aeef386e08f38faec07f87656048ef6cc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>numberConnectedComponents</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>afa92ec366365c46f7781783bd19e529e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeqSeq *</type>
      <name>nodesConnectedComponent</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aabdb598e6da7c1c0bcb36f6562b5e334</anchor>
      <arglist>(ULong connectedComponentId)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getNearestConfig</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a5a5913df08e84dd18c10c3b2c39a88c7</anchor>
      <arglist>(const hpp::floatSeq &amp;config, const Long connectedComponentId, hpp::core::value_type &amp;distance)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>clearRoadmap</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a11c9a6958a211e5b92d9635bb61dc4b2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>resetRoadmap</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>aa55029087d1935010a13378577253f8e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>saveRoadmap</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>af62dc114913bf49781697e9e46ce2a59</anchor>
      <arglist>(const char *filename)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>loadRoadmap</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a87a3700576c3f849c3d5dccf1aa68c01</anchor>
      <arglist>(const char *filename)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>savePath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a80d658ccf4014d91a6c40c543d08d518</anchor>
      <arglist>(hpp::core_idl::Path_ptr path, const char *filename)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::core_idl::Path_ptr</type>
      <name>loadPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>ab8af721585f1bf2538229085bdf2173b</anchor>
      <arglist>(const char *filename)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>scCreateScalarMultiply</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>af946acf94ad1f5d668c26e9f58be46c1</anchor>
      <arglist>(const char *outName, Double scalar, const char *inName)</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::Distance_ptr</type>
      <name>getDistance</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a91c88afaeb5dc694bb343a0f7e73ff5d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDistance</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>afeb9f663e0da5b7153f0131c12478e15</anchor>
      <arglist>(hpp::core_idl::Distance_ptr distance)</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::Path_ptr</type>
      <name>getPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a695b0c673e585216fec50ba6b25e0e2f</anchor>
      <arglist>(ULong pathId)</arglist>
    </member>
    <member kind="function">
      <type>ULong</type>
      <name>addPath</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a728bc616bb2dedb23a4ee822b3c387c0</anchor>
      <arglist>(hpp::core_idl::PathVector_ptr _path)</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::SteeringMethod_ptr</type>
      <name>getSteeringMethod</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a6c96b1fe2f50e5b7094273d41526e771</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::PathValidation_ptr</type>
      <name>getPathValidation</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a929030914a606625a3d62828e45753e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::PathPlanner_ptr</type>
      <name>getPathPlanner</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a85d061fa9ec9a81058e7082363973022</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::Problem_ptr</type>
      <name>getProblem</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a83de26f2d88f8e5e8f5b8ebc79519eb4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>hpp::constraints_idl::Implicit_ptr</type>
      <name>getConstraint</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a3875b12f42334048d0349bda085b2ca4</anchor>
      <arglist>(const char *name)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRobot</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>af1bc7207aacd0973f6e2c70c43188476</anchor>
      <arglist>(hpp::pinocchio_idl::Device_ptr robot)</arglist>
    </member>
    <member kind="function">
      <type>pinocchio_idl::CollisionObject_ptr</type>
      <name>getObstacle</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Problem.html</anchorfile>
      <anchor>a2b84f82f98b1717e73f32bdc64a0a142</anchor>
      <arglist>(const char *name)</arglist>
    </member>
    <member kind="function">
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      <arglist>(const hpp::floatSeq &amp;cfgfrom, const hpp::floatSeq &amp;cfgto, hpp::core_idl::Path_ptr path_)</arglist>
    </member>
    <member kind="function">
      <type>hpp::floatSeq *</type>
      <name>nearestNode</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>a0afe1939de4daaf771e8862ae232d6e7</anchor>
      <arglist>(const hpp::floatSeq &amp;config, hpp::value_type &amp;distance, ::CORBA::Boolean reverse)</arglist>
    </member>
    <member kind="function">
      <type>hpp::floatSeqSeq *</type>
      <name>nearestNodes</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>a771ecc535d2e556fd78e2faea890fc1b</anchor>
      <arglist>(const hpp::floatSeq &amp;config, hpp::size_type &amp;k)</arglist>
    </member>
    <member kind="function">
      <type>hpp::size_type</type>
      <name>getNbNodes</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>aaf8f7a7044e89042a4d3894ad391a341</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>hpp::floatSeq *</type>
      <name>getNode</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>ad5f1dfdbe9dc5083d369c600b975c317</anchor>
      <arglist>(hpp::size_type i)</arglist>
    </member>
    <member kind="function">
      <type>hpp::size_type</type>
      <name>getNbEdges</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>a1485ec9c1bea7da1f3805304385ae0b0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>hpp::core_idl::Path_ptr</type>
      <name>getEdge</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>a199473f93c9f258aaa920d9283c8120d</anchor>
      <arglist>(hpp::size_type i)</arglist>
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    <member kind="function">
      <type>hpp::core_idl::ConnectedComponentSeq *</type>
      <name>getConnectedComponents</name>
      <anchorfile>classhpp_1_1core__impl_1_1RoadmapServant.html</anchorfile>
      <anchor>a1675054503f198e824e0654b8820e0af</anchor>
      <arglist>()</arglist>
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  </compound>
  <compound kind="class">
    <name>hpp::corbaServer::impl::Robot</name>
    <filename>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</filename>
    <member kind="function">
      <type></type>
      <name>Robot</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a14b720a4da1a9d06b7d6d3b422fdb63d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setServer</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ad2bd8cea0ac32f38b679074cf84ade2f</anchor>
      <arglist>(ServerPlugin *server)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>createRobot</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a82a7e3675cab7d15cd7f104598ec7a0a</anchor>
      <arglist>(const char *robotName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>loadRobotModel</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a76344efe44cd9ee969e3e05b5ebe3cfb</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>loadHumanoidModel</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a760da81d2680bf12cbc1a30a451108dd</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>loadRobotModelFromString</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a3d820e9eabb09bed68eec77f2dfa887a</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>loadHumanoidModelFromString</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ac87d9fb64e1bd3b913185709eab20edd</anchor>
      <arglist>(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual char *</type>
      <name>getRobotName</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a15bf8ab1c0f2c4710a4a90bb2da8b4e8</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>getConfigSize</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a129c89b60d26f414c299402c45b8c72a</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>getNumberDof</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a87c3d73b246190ad12f63e9bccc6d559</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>appendJoint</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a8400619559a28b663f5e57a9f7cd09c8</anchor>
      <arglist>(const char *parentName, const char *jointName, const char *jointType, const Transform_ pos)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getJointNames</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a67068531934ead860217a6dabda7d0b7</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getJointTypes</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a1ca03bc71a34687ab99814ec6606ff75</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getAllJointNames</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a360bab0011fbb41039b24a29dca2cb81</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getChildJointNames</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a00f040746714b3149a577fa6bc8ee810</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual char *</type>
      <name>getParentJointName</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a47be6dc0139ab1370842bd7bcf663244</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getJointConfig</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ada84b7af9524d915a06bb3b72875eca6</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setJointConfig</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>aa7f39f2311ef8bed24b1e4868a8fa42d</anchor>
      <arglist>(const char *jointName, const floatSeq &amp;cfg)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual char *</type>
      <name>getJointType</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ae8316d2d267406536bca396a5a4cce5a</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual floatSeq *</type>
      <name>jointIntegrate</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>afc1752bb3765df2b377614786c446fdd</anchor>
      <arglist>(const floatSeq &amp;jointCfg, const char *jointName, const floatSeq &amp;dq, bool saturate)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeqSeq *</type>
      <name>getCurrentTransformation</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>afe114b8a15bdf3b35925c2af0e87cb2c</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Transform__slice *</type>
      <name>getJointPositionInParentFrame</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>af35dcf200e01e6b97a9b46e9e4915efc</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Transform__slice *</type>
      <name>getJointPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>af91745197de06dacefe0cfa445c845be</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual TransformSeq *</type>
      <name>getJointsPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a535d37ba9653da8d0340612de982981c</anchor>
      <arglist>(const floatSeq &amp;q, const Names_t &amp;jointNames)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual floatSeq *</type>
      <name>getJointVelocity</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a6012226304818cc14907f460ebb363a6</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual floatSeq *</type>
      <name>getJointVelocityInLocalFrame</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a8aa07defcf593bf710fa7681f9d42ab7</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Transform__slice *</type>
      <name>getRootJointPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a29cf716dcff25a3749b13c97bc509704</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setRootJointPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>aacd791edf9221e80c9c5c2bbd919e524</anchor>
      <arglist>(const Transform_ position)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setJointPositionInParentFrame</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a27b288c0bcb96a981454209ce3eb0488</anchor>
      <arglist>(const char *jointName, const Transform_ position)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>getJointNumberDof</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a49b2bd826fb13323eb857a4b11c90673</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Long</type>
      <name>getJointConfigSize</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>aa613bbe22b325327dc0ddecd2032899b</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getJointBounds</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a0004038735c844349dd8cdcbb5736501</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setJointBounds</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a7904b3f212786d5bfb114e311a78151e</anchor>
      <arglist>(const char *jointName, const hpp::floatSeq &amp;jointBound)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Transform__slice *</type>
      <name>getLinkPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a07f31f892bd6d59275ff1049fd3ad256</anchor>
      <arglist>(const char *linkName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual TransformSeq *</type>
      <name>getLinksPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ae4765f523a1a795d97c9f1f61e9e3944</anchor>
      <arglist>(const floatSeq &amp;q, const Names_t &amp;linkName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getLinkNames</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ac08f669734cb37aa6d77497d6b886ea2</anchor>
      <arglist>(const char *jointName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setDimensionExtraConfigSpace</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a7b5d000845d851d3f97ea1b763135c68</anchor>
      <arglist>(ULong dimension)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual ULong</type>
      <name>getDimensionExtraConfigSpace</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ab50f53556a693120fd3b5f26ffe24bc9</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setExtraConfigSpaceBounds</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a027003b25a54f6e9616e8cdb1f29bc29</anchor>
      <arglist>(const hpp::floatSeq &amp;bounds)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setCurrentConfig</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a25e85281f939f98a61858092be4b01db</anchor>
      <arglist>(const hpp::floatSeq &amp;dofArray)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>shootRandomConfig</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a87143d00790d1cf52c70057812197101</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getCurrentConfig</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ad51916ed882e754e2cc8a67ab5989b17</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setCurrentVelocity</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a05a02a07c5688e53b1b0da998bb31122</anchor>
      <arglist>(const hpp::floatSeq &amp;qDot)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getCurrentVelocity</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a9ad8df16bbd40b7fc807e041f5d7583e</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getJointInnerObjects</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a01fb6232666a3234ecd8fefa05fe23ca</anchor>
      <arglist>(const char *bodyName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Names_t *</type>
      <name>getJointOuterObjects</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a507e6e9951abcc351f9f82679ba3cd4e</anchor>
      <arglist>(const char *bodyName)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getObjectPosition</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a0c6a36183068bf0bc69b917d8d275762</anchor>
      <arglist>(const char *objectName, Transform_ cfg)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>isConfigValid</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a2263aebab7727a46a611b3eed23c25ac</anchor>
      <arglist>(const hpp::floatSeq &amp;dofArray, Boolean &amp;validity, CORBA::String_out report)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>distancesToCollision</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a5cc74ae14c66325c3334ae716491c8d5</anchor>
      <arglist>(hpp::floatSeq_out distances, Names_t_out innerObjects, Names_t_out outerObjects, hpp::floatSeqSeq_out innerPoints, hpp::floatSeqSeq_out outerPoints)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>autocollisionCheck</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>aa260a25c118c1fa7aeb7ea21b85334ab</anchor>
      <arglist>(hpp::boolSeq_out collide)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>autocollisionPairs</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a83ebf1f366cfdf7020067b19883f0f1d</anchor>
      <arglist>(Names_t_out innerObjects, Names_t_out outerObjects, boolSeq_out active)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setAutoCollision</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a1634db2ce9f709d50de85b4e061968f3</anchor>
      <arglist>(const char *innerObject, const char *outerObject, bool active)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Double</type>
      <name>getMass</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a5bd0222def85a5ffb7cd52535234ff2c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getCenterOfMass</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>aace9e0de02e545b0665028c53560d6cf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeq *</type>
      <name>getCenterOfMassVelocity</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>ad31683b447698a0f283598aa2346d596</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual hpp::floatSeqSeq *</type>
      <name>getJacobianCenterOfMass</name>
      <anchorfile>classhpp_1_1corbaServer_1_1impl_1_1Robot.html</anchorfile>
      <anchor>a2d581dbe67e95407cf9eeed489bd9818</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>createPolyhedron</name>
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      <arglist>(in string comName)</arglist>
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      <arglist>(in string comName)</arglist>
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      <arglist>(in string robotName)</arglist>
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      <arglist>(in string parentJoint, in string jointName, in string jointType, in Transform_ pos)</arglist>
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      <arglist>(in string name, in double x, in double y, in double z)</arglist>
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      <arglist>(in string name, in double radius, in double length)</arglist>
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      <arglist>(in string robotName, in string rootJointType, in string urdfName, in string srdfName)</arglist>
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      <arglist>(in string robotName, in string rootJointType, in string urdfString, in string srdfString)</arglist>
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      <arglist>(in string robotName, in string rootJointType, in string urdfString, in string srdfString)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName, in floatSeq config)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in floatSeq jointCfg, in string jointName, in floatSeq speed, in boolean saturate)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in floatSeq q, in Names_t jointNames)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in Transform_ position)</arglist>
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      <arglist>(in string jointName, in Transform_ position)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName, in floatSeq inJointBound)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string linkName)</arglist>
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      <arglist>(in floatSeq q, in Names_t linkName)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in unsigned long dimension)</arglist>
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      <arglist>(in floatSeq bounds)</arglist>
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      <arglist>(in floatSeq dofArray)</arglist>
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      <arglist>(in floatSeq qDot)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string jointName)</arglist>
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      <arglist>(in string objectName, out Transform_ cfg)</arglist>
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      <arglist>(in string innerObject, in string outerObject, in boolean active)</arglist>
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      <arglist>(in string comName, in Names_t jointNames)</arglist>
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      <arglist>(in string comName)</arglist>
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      <arglist>(in string comName)</arglist>
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      <arglist>(in string comName)</arglist>
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      <arglist>(in string name)</arglist>
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      <arglist>(in string robotName)</arglist>
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      <arglist>(in string parentJoint, in string jointName, in string jointType, in Transform_ pos)</arglist>
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      <arglist>(in string inPolyName)</arglist>
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      <arglist>(in string name, in double x, in double y, in double z)</arglist>
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      <arglist>(in string name, in double radius)</arglist>
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